# US 12,000,705 B2 · Method, apparatus, and system for providing travel direction and navigation in a multi-one-dimensional transportation system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,000,705 B2 - Document ID: US12000705B2 - Status: Granted - Kind: B2 - Application number: 16/883,786 - Filed: 2020-05-26 - Published: 2021-12-02 - Granted: 2024-06-04 - Earliest claimed: 2020-05-26 - Assignees: HERE Global B.V. - Applicants: HERE Global B.V. - Inventors: Harel Primack; Silviu Zilberman; Ron Begleiter - Web page: https://patentgrep.com/patent/US12000705B2 ## CPC - G01C 21/3407: {specially adapted for specific applications} - G01C 21/3423: {Multimodal routing} - B60W 60/0025: {specially adapted for specific operations} - G01C 21/30: Map- or contour-matching - G01C 21/32: Structuring or formatting of map data - G01C 21/3617: {using user history, behaviour, conditions or preferences, e.g. predicted or inferred from previous use or current movement} - G01S 19/393: {Trajectory determination or predictive tracking, e.g. Kalman filtering} - G01S 19/42: Determining position - G06V 10/62: relating to a temporal dimension, e.g. time-based feature extraction; Pattern tracking - G06V 20/44: {Event detection} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract An approach is provided for determining travel direction and/or location data based on sequential semantic events. The approach, for example, involves processing sensor data collected from at least one sensor of a mobile device to determine a set of observed time-sequenced semantic events. The semantic events are associated with traveling within a transportation system, and at least one semantic event of the set of observed time-sequenced semantic events is based on a turn angle value determined from the sensor data. The approach also involves initiating a comparison of the set of observed time-sequenced semantic events against a set of known time-sequenced semantic events and/or a known piece of information associated with the transportation system. The approach further involves determining a direction of travel and/or a location of the mobile device within the transportation system based on the comparison. The approach further involves providing the direction of travel and/or the location as an output. ## Claims ### Claim 1 A method comprising: processing sensor data collected from at least one sensor of a mobile device to determine a set of observed time-sequenced semantic events associated with traveling within a transportation system that includes one or more sections where satellite-based data is unavailable, wherein at least one semantic event of the set of observed time-sequenced semantic events embodies a horizontal turn angle value determined for the one or more sections from gyroscope data included in the sensor data; initiating a comparison of the set of observed time-sequenced semantic events against a set of known time-sequenced semantic events associated with the transportation system, wherein the comparison includes comparing the horizontal turn angle value against one or more horizontal turn angle values of the set of known time-sequenced semantic events; determining a direction of travel, a location, or a combination thereof of the mobile device within the transportation system based on the comparison; providing the direction of travel, the location, or a combination thereof as an output; and processing the output to perform at least one of: mapping a geographic area; providing navigation routing data; updating digital map data; map matching the location to a digital map; mapping an indoor area; and navigating an autonomous device. ### Claim 2 (depends on 1) The method of claim 1, further comprising: determining a semantic event in the set of observed time-sequence semantic events based on sensed values of the at least one sensor at a point in time, wherein the mobile device is at least one of a smartphone, a fitness tracker, a gaming wearable, or a virtual reality wearable, wherein the at least one sensor includes at least one gyroscope and at least one accelerometer, and wherein the horizontal turn angle value, and a magnitude of a turn are further determined based on the gyroscope data and accelerometer data. ### Claim 3 (depends on 1) The method of claim 1, further comprising: trajectory mapping the set of observed time-sequenced semantic events to the set of known time-sequenced semantic events, wherein the comparison is based on the trajectory mapping, wherein the gyroscope data is collected by at least one micro electro mechanical system (MEMS) of the mobile device. ### Claim 4 (depends on 1) The method of claim 1, wherein the semantic events include, at least in part, a change in elevation, an entry or an exit from a transportation vehicle or a transportation station, or a combination thereof, and the method further comprising: processing barometer data included in the sensor data to determine the change in elevation, the entry or the exit from a transportation vehicle or a transportation station, or a combination thereof. ### Claim 5 (depends on 1) The method of claim 1, wherein the transportation system is a multi-one-dimensional transportation system. ### Claim 6 (depends on 1) The method of claim 1, wherein the known piece of information includes a location of stations of the transportation system, a time of arrival of vehicles of the transportation system, a time of departure of the vehicles of the transportation system, a travel time between different stations with the transportation system, in-station mapping data, or a combination thereof. ### Claim 7 (depends on 1) The method of claim 1, wherein the semantic events are determined based, at least in part, on a departure acceleration, an arrival deceleration, or a combination thereof, and the method further comprising: processing accelerometer data included in the sensor data to determine the departure acceleration, the arrival deceleration, or a combination thereof. ### Claim 8 (depends on 1) The method of claim 1, further comprising: determining a trajectory curvature of the set of observed time-sequenced semantic events, wherein the comparison is further based on the trajectory curvature. ### Claim 9 (depends on 8) The method of claim 8, wherein the trajectory curvature is specified based on a total angle, a centripetal acceleration, or a combination thereof determined from the sensor data. ### Claim 10 (depends on 1) The method of claim 1, further comprising: processing magnetometer data included in the sensor data to determine a turn, wherein the semantic events include the turn. ### Claim 11 An apparatus comprising: at least one processor; and at least one memory including computer program code for one or more programs, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following, process sensor data collected from at least one sensor of a mobile device to determine a set of observed time-sequenced semantic events associated with traveling within a transportation system that includes one or more sections where satellite-based data is unavailable, wherein at least one semantic event of the set of observed time-sequenced semantic events embodies a horizontal turn angle value determined for the one or more sections from gyroscope data included in the sensor data; initiate a comparison of the set of observed time-sequenced semantic events against a set of known time-sequenced semantic events associated with the transportation system, wherein the comparison includes comparing the horizontal turn angle value against one or more horizontal turn angle values of the set of known time-sequenced semantic events; determine a direction of travel, a location, or a combination thereof of the mobile device within the transportation system based on the comparison; provide the direction of travel, the location, or a combination thereof as an output; and process the output to perform at least one of: mapping a geographic area; providing navigation routing data; updating digital map data; map matching the location to a digital map; mapping an indoor area; and navigating an autonomous device. ### Claim 12 (depends on 11) The apparatus of claim 11, wherein the apparatus is further caused to: determine a semantic event in the set of observed time-sequence semantic events based on sensed values of the at least one sensor at a point in time. ### Claim 13 (depends on 11) The apparatus of claim 11, wherein the apparatus is further caused to: trajectory mapping the set of observed time-sequenced semantic events to the set of known time-sequenced semantic events, wherein the comparison is based on the trajectory mapping. ### Claim 14 (depends on 11) The apparatus of claim 11, wherein the semantic events include, at least in part, a turn, a magnitude of the turn, a change in elevation, an entry or an exit from a transportation vehicle or a transportation station, or a combination thereof. ### Claim 15 (depends on 11) The apparatus of claim 11, wherein the known piece of information includes a location of stations of the transportation system, a time of arrival of vehicles of the transportation system, a time of departure of the vehicles of the transportation system, a travel time between different stations with the transportation system, in-station mapping data, or a combination thereof. ### Claim 16 A non-transitory computer-readable storage medium carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to perform: processing sensor data collected from at least one sensor of a mobile device to determine a set of observed time-sequenced semantic events associated with traveling within a transportation system that includes one or more sections where satellite-based data is unavailable, wherein at least one semantic event of the set of observed time-sequenced semantic events embodies a horizontal turn angle value determined for the one or more sections from gyroscope data included in the sensor data; initiating a comparison of the set of observed time-sequenced semantic events against a set of known time-sequenced semantic events associated with the transportation system, wherein the comparison includes comparing the horizontal turn angle value against one or more horizontal turn angle values of the set of known time-sequenced semantic events; determining a direction of travel, a location, or a combination thereof of the mobile device within the transportation system based on the comparison; providing the direction of travel, the location, or a combination thereof as an output; and processing the output to perform at least one of: mapping a geographic area; providing navigation routing data; updating digital map data; map matching the location to a digital map; mapping an indoor area; and navigating an autonomous device. ### Claim 17 (depends on 16) The non-transitory computer-readable storage medium of claim 16, wherein the apparatus is caused to further perform: determining a semantic event in the set of observed time-sequence semantic events based on sensed values of the at least one sensor at a point in time. ### Claim 18 (depends on 16) The non-transitory computer-readable storage medium of claim 16, wherein the apparatus is caused to further perform: trajectory mapping the set of observed time-sequenced semantic events to the set of known time-sequenced semantic events, wherein the comparison is based on the trajectory mapping. ### Claim 19 (depends on 16) The non-transitory computer-readable storage medium of claim 16, wherein the semantic events include, at least in part, a turn, a magnitude of the turn, a change in elevation, an entry or an exit from a transportation vehicle or a transportation station, or a combination thereof. ### Claim 20 (depends on 16) The non-transitory computer-readable storage medium of claim 16, wherein the known piece of information includes a location of stations of the transportation system, a time of arrival of vehicles of the transportation system, a time of departure of the vehicles of the transportation system, a travel time between different stations with the transportation system, in-station mapping data, or a combination thereof.