Method, apparatus, and computer program product for determining lane level vehicle speed profiles

An apparatus comprising processing circuitry and at least one memory including computer program code, the at least one memory and computer program code configured to, with the processing circuitry, cause the apparatus to at least:

• receive a plurality of probe data points, each probe data point received from a probe apparatus of a plurality of probe apparatuses, each probe apparatus comprising one or more sensors and being onboard a respective vehicle, wherein each probe data point comprises location information associated with the respective probe apparatus, and wherein a sequence of probe data points from a respective probe apparatus defines a trajectory of said respective probe apparatus;
• map-match trajectories of the plurality of probe apparatuses to lanes of a road segment of a road network;
• determine, from each trajectory of the plurality of probe apparatuses map-matched to the lanes of the road segment, average path speeds along each lane of the road segment;
• aggregate average path speeds along each lane of the road segment;
• cluster the aggregated speeds on each lane into a predetermined number of speed profiles using a clustering technique;
• generate a lane-level speed profile for the road segment;
• and
• provide for at least one of navigational instructions or autonomous vehicle control based on the lane-level speed profile for the road segment.

A method comprising:

• receiving a plurality of probe data points, each probe data point received from a probe apparatus of a plurality of probe apparatuses, each probe apparatus comprising one or more sensors and being onboard a respective vehicle, wherein each probe data point comprises location information associated with the respective probe apparatus, and wherein a sequence of probe data points from a respective probe apparatus defines a trajectory of said respective probe apparatus;
• map-matching trajectories of the plurality of probe apparatuses to lanes of a road segment of a road network;
• determining, from each trajectory of the plurality of probe apparatuses map-matched to the lanes of the road segment, average path speeds along each lane of the road segment;
• aggregating average path speeds along each lane of the road segment;
• clustering aggregated speeds on each lane into a predetermined number of speed profiles using a clustering technique;
• generating a lane-level speed profile for the road segment;
• and
• providing for at least one of navigational instructions or autonomous vehicle control based on the lane-level speed profile for the road segment.