Method, apparatus, and system for detecting lane departure events based on probe data and sensor data

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,
• determine that a vehicle is approaching a road segment within a threshold distance;
• query for a lane departure warning database for a lane departure warning message associated with the road segment, wherein the lane departure warning message is created from at least one lane departure event detected from probe data map-matched at a lane-level to the road segment, and wherein the lane departure warning message is categorized as an intentional lane departure event or an unintentional lane departure event;
• and
• deliver the lane departure warning message to the vehicle.

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 at least perform the following steps:

• map-matching probe data to a lane of a road segment, wherein the probe data is collected from one or more sensors of at least one vehicle that traversed the road segment, of one or more devices within the at least one vehicle, or a combination thereof;
• processing the probe data to detect at least one lane departure event;
• categorizing the at least one lane departure event as an intentional lane departure event or an unintentional lane departure event;
• creating a lane departure warning message for the road segment based on the at least one categorized lane departure event;
• and
• providing the lane departure warning message as an output.