Vehicle systems and methods for identification and deduplication of roadway objects

A vehicle system comprising:

• a vehicle control module of a vehicle;
• and
• a control module in communication with the vehicle control module, the control module configured to:
• receive data from a plurality of vehicles over a period of time, the data including detected locations and speed limit values of at least one speed limit sign along a vehicle roadway;
• cluster the received data into a plurality of groups;
• detect at least one set of duplicate groups of the plurality of groups;
• remove at least one of the duplicate groups from the set of duplicate groups based on sampling frequencies of the plurality of vehicles detecting locations of the speed limit sign, the sampling frequencies representing a number of samples per vehicle of the speed limit sign at the detected locations;
• merge at least two of the remaining duplicate groups into a single group to form a set of deduplicated groups associated with the at least one speed limit sign;
• determine an expected speed limit value of the at least one speed limit sign based on the set of deduplicated groups;
• determine an expected location of the at least one speed limit sign based on the set of deduplicated groups;
• and
• transmit the expected speed limit value and the expected location of the at least one speed limit sign to the vehicle control module,
• wherein the vehicle control module is configured to generate a control signal for controlling at least one operation of the vehicle based on the expected speed limit value and the expected location of the at least one speed limit sign.

A vehicle control method comprising:

• receiving data from a plurality of vehicles over a period of time, the data including detected locations of at least one object along a vehicle roadway;
• clustering the received data into a plurality of groups;
• detecting at least one set of duplicate groups of the plurality of groups;
• removing at least one of the duplicate groups from the set of duplicate groups based on sampling frequencies of the plurality of vehicles detecting locations of the at least one object, the sampling frequencies representing a number of samples per vehicle of the at least one object at the detected locations;
• merging at least two of the remaining duplicate groups into a single group;
• determining an expected location of the at least one object based on the set of deduplicated groups;
• and
• generating a control signal for controlling at least one operation of a vehicle based on the expected location of the at least one object.