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US 10,538,250 B2Granted
Road geometry generation from sparse data
AssigneeHERE Global B.V.
InventorOle Henry Dorum
Life of this patent
Estimating the term…
Abstract
Road geometries may be determined from sparse data by identifying a set of mobile device data points generated by a mobile device located in a geographic area. Further, the data points may be connected with a curve comprising a series of splines defined by curve functions. The shape of the splines may be optimized by applying a scaling factor to the curve functions. A resulting optimized curve may be representative of a road in a geographic area.
Claims18
A method comprising:
- identifying, by a processor, a set of mobile device data points generated by at least one sensor of a vehicle traveling along a path from a plurality of mobile device data points, the set of mobile device data points indicating a position of the vehicle, a heading of the vehicle, and a speed of the vehicle at particular times while traveling a road;
- filtering the plurality of mobile device points to remove invalid data points, wherein a data point is determined invalid when a time difference between temporally sequential data points is larger than a specified value;
- connecting, by the processor, the set of mobile device data points with a curve comprising a series of splines defined by curve functions using parameters derived from the position, the heading, and the speed for the plurality of mobile device data points;
- optimizing, by the processor, the curve by applying at least one scaling factor to the parameters, wherein optimizing comprises more closely approximating the path of the vehicle;
- associating, by the processor, the optimized curve with the road;
- storing an association between the optimized curve and the road in a geographic database stored in a memory;
- generating a road geometry map wherein the road in the geometry map is represented by the optimized curve;
- and
- providing for autonomous control of a subsequent vehicle along the optimized curve.
6 more elements
An apparatus comprising:
- at least one processor;
- and
- at least one memory including computer program code and operable to store a plurality of data points associated with a vehicle, the plurality of data points generated by a mobile device at particular times while traveling a road;
- the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to:
- identify the plurality of mobile device data points generated by at least one sensor of a vehicle traveling along a path from a plurality of mobile device data points, the set of mobile device data points indicating a position of the vehicle, a heading of the vehicle, and a speed of the vehicle at particular times while traveling a road;
- filter the plurality of mobile device data points to remove invalid data points, wherein a data point is determined invalid when a time difference between temporally sequential data points is larger than a specified value;
- connect the plurality of mobile device data points with a curve comprising a series of splines defined by curve functions using mobile device data generated by the mobile device, wherein the curve functions are represented as:
- p(t)=(2t3−3t2+1)p0+(t3−2t2+t)m0+(−2t3+3t2)p1+(t3−t2)m1
- where t is a given incremental spline variable where t is zero (0) at a first mobile device data point and t is one (1) at a second mobile device data point;
- p(t) is a position at the given spline parameter t;
- p0 is an initial position of a spline indicated by the first data point;
- p1 is an ending position of the spline indicated by the second data point;
- m0 is a heading determined for the first data point;
- and
- m1 is a heading determined for the second data point;
- optimize the shape of the splines by applying a scaling factor to the curve functions, wherein optimizing the shape of the splines comprises more closely approximating a path of the vehicle;
- associate the optimized curve with the road;
- store an association between the optimized curve and the road in a geographic database stored in the at least one memory;
- generate a road geometry map wherein the road in the geometry map is represented by the optimized curve;
- and
- provide for guidance of a vehicle along the optimized curve.
18 more elements
A non-transitory computer readable medium including instructions that when executed on a computer are operable to:
- identify a plurality of mobile device data points generated by at least one sensor of a vehicle traveling along a path from a plurality of mobile device data points, the set of mobile device data points indicating a position of the vehicle, a heading of the vehicle, and a speed of the vehicle at particular times while traveling a road;
- filter the plurality of mobile device data points to remove invalid data points, wherein a data point is determined invalid when a speed associated with the data point is below a minimum speed threshold;
- connect the plurality of mobile device data points with a curve comprising a series of cubic Hermite splines defined by curve functions;
- optimize the shape of the splines by applying at least one scaling factor to the curve functions, wherein optimizing comprises more closely approximating a path of the mobile device;
- associate the optimized curve with a path in the geographic area;
- store an association between the optimized curve and the road in a geographic database stored in a memory;
- generate a road geometry map wherein the road in the geometry map is represented by the optimized curve;
- and
- provide for guidance of a vehicle along the optimized curve.
6 more elements
Dependencies are inferred from the claim text.