Use of position logs of vehicles to determine presence and behaviors of traffic controls

• US 8,855,904 B1
• Filed: 10/10/2012
• Issued: 10/07/2014
• Est. Priority Date: 10/10/2012
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Templeton, Bradley, Brandt, Eli
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): McPherson, James M
• Application Number:
  US13/648,282
• Time in Patent Office: 727 Days
• Field of Search: None
• US Class Current: 701/119
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0129 for creating historical data or processing based on historical data
• CPC Class Codes: G08G 1/0141 for traffic information dissemination

Abstract

Methods and devices for using position logs of vehicles to determine the presence and behavior of traffic controls are disclosed. An example method includes receiving movement data that is indicative of movement of a plurality of vehicles through an intersection. The movement data may be received by a computing device and may include, for each respective vehicle, data indicative of the respective vehicle'"'"'s position as a function of time for multiple instances of time. The method may further include detecting a pattern in the movement data using the computing device. The detected pattern may be indicative of a probable traffic control for the intersection. According to the method, an indication of the probable traffic control for the intersection may be stored in a database.

Claims

1. A method comprising:

receiving, by a computing device, movement data that is indicative of movement of a plurality of vehicles through an intersection, wherein the movement data comprises for each respective vehicle data indicative of the respective vehicle'"'"'s position as a function of time for multiple instances of time and the respective vehicle'"'"'s velocity as a function of time for the multiple instances of time;

detecting a pattern in a distribution of velocities of the plurality of vehicles within a threshold distance of the intersection using the computing device;

determining, based at least upon a presence of decreasing velocities and subsequent increasing velocities within the pattern, that the distribution of velocities is indicative of a presence of a probable traffic control for the intersection; and

storing an indication of the probable traffic control for the intersection in a database.

2. The method of claim 1, wherein the movement data further comprises for each respective vehicle data indicative of the respective vehicle'"'"'s acceleration as a function of time for multiple instances of time.

3. The method of claim 1, wherein the movement data is received from mobile devices in each respective vehicle.

4. The method of claim 1, further comprising providing the indication of the probable traffic control for the intersection to a target vehicle, wherein the target vehicle is configured to operate in an autonomous mode.

5. The method of claim 1, further comprising providing the indication of the probable traffic control for the intersection to a mapping application, wherein the mapping application is configured to determine driving directions based on the indication.

6. The method of claim 1, wherein the probable traffic control is a probable traffic signal.

7. The method of claim 6, further comprising determining a cycle time of the probable traffic signal based on the movement data and storing an indication of the cycle time in the database.

8. The method of claim 1, wherein the probable traffic control is a probable traffic sign.

9. A non-transitory computer-readable medium having stored therein instructions executable by a computing device to cause the computing device to perform functions comprising:

receiving movement data that is indicative of movement of a plurality of vehicles through an intersection, wherein the movement data comprises for each respective vehicle data indicative of the respective vehicle'"'"'s position as a function of time for multiple instances of time and the respective vehicle'"'"'s velocity as a function of time for the multiple instances of time;

detecting a pattern in a distribution of velocities of the plurality of vehicles within a threshold distance of the intersection;

determining, based at least upon a presence of decreasing velocities and subsequent increasing velocities within the pattern, that the distribution of velocities is indicative of a presence of a probable traffic control for the intersection; and

storing an indication of the probable traffic control for the intersection in a database.

10. The non-transitory computer-readable medium of claim 9, wherein the movement data is received from mobile devices in each respective vehicle.

11. The non-transitory computer-readable medium of claim 9, wherein the functions further comprise providing the indication of the probable traffic control for the intersection to a mapping application, wherein the mapping application is configured to determine driving directions based on the indication.

12. The non-transitory computer-readable medium of claim 9, wherein the probable traffic control is a probable traffic signal.

13. The non-transitory computer-readable medium of claim 12, wherein the functions further comprise determining a cycle time of the probable traffic signal based on the movement data and storing an indication of the cycle time in the database.

14. A system comprising:

at least one processor;

a memory; and

instructions stored in the memory and executable by the at least one processor to cause the at least one processor to perform functions comprising;

receiving movement data that is indicative of movement of a plurality of vehicles through an intersection, wherein the movement data comprises for each respective vehicle data indicative of the respective vehicle'"'"'s position as a function of time for multiple instances of time and the respective vehicle'"'"'s velocity as a function of time for the multiple instances of time;

detecting a pattern in a distribution of velocities of the plurality of vehicles within a threshold distance of the intersection;

determining, based at least upon a presence of decreasing velocities and subsequent increasing velocities within the pattern, that the distribution of velocities is indicative of a presence of a probable traffic control for the intersection; and

storing an indication of the probable traffic control for the intersection in a database.

15. The system of claim 14, wherein the movement data is received from mobile devices in each respective vehicle.

16. The system of claim 14, wherein the probable traffic control is a probable traffic signal.

17. The system of claim 14, wherein the functions further comprise providing the indication of the probable traffic control for the intersection to a mapping application, wherein the mapping application is configured to determine driving directions based on the indication.