Method, apparatus, and system for detecting a physical divider on a road segment

Patent metadata

Field	Value
Publication number	US-10546200-B2
Application number	US-201815987610-A
Country	US
Kind code	B2
Filing date	May 23, 2018
Priority date	May 23, 2018
Publication date	Jan 28, 2020
Grant date	Jan 28, 2020

Abstract

An approach is provided for detecting a presence of a physical divider on a road segment. The approach, for example, involves determining a number of positive observations of the physical divider on the road segment based on sensor data collected from one or more vehicles traveling the road segment. The approach also involves determining a number of negative observations of the physical divider on the road segment based on the sensor data. The approach further involves calculating a probability of the presence of the physical divider based on the number of the positive observations and the number of the negative observations. The approach further involves updating map data for the road segment to indicate the presence of the physical divider based on determining that the probability of the presence of the physical divider is greater than a threshold value.

First claim

What is claimed is:

1. A computer-implemented method for detecting a presence of a physical divider on a road segment comprising:
determining a number of positive observations of the physical divider on the road segment based on sensor data collected from one or more vehicles traveling the road segment;
determining a number of negative observations of the physical divider on the road segment based on the sensor data;
calculating a probability of the presence of the physical divider based on the number of the positive observations and the number of the negative observations; and
updating map data for the road segment to indicate the presence of the physical divider based on determining that the probability of the presence of the physical divider is greater than a threshold value.

2. The method of claim 1 , further comprising:
calculating the threshold value based on ground truth data indicating a known presence, a known absence, or a combination thereof of a plurality of reference physical dividers on a plurality of reference road segments.

3. The method of claim 1 , further comprising:
filtering the positive observations, the negative observations, or a combination thereof based on determining that the one or more vehicles are farther than a distance threshold from the physical divider on the road segment,
wherein the number of the positive observations, the number of the negative observations, or a combination thereof is determined based on the filtered positive observations, the filtered negative observations, or a combination thereof.

4. The method of claim 3 , wherein the distance threshold is based on physical dimensions of a travel lane adjacent to the physical divider.

5. The method of claim 1 , wherein the sensor data comprises a plurality of probe trajectories including a plurality of physical divider flags sequenced in time.

6. The method of claim 5 , wherein the positive observations are extracted by segmenting a portion of the plurality of probe trajectories that corresponds to the road segment, and wherein the portion begins with a positive flag and ends with a negative flag as determined from the plurality of physical divider flags.

7. The method of claim 5 , wherein the negative observations are extracted by segmenting a portion of the plurality of probe trajectories that corresponds to the road segment, and wherein the portion begins with a negative flag and ends with a positive flag as determined from the plurality of physical divider flags.

8. The method of claim 1 , wherein the road segment is one segment of a plurality of segments of a road link, and wherein the presence of the physical divider for each of the plurality of segments is determined independently.

9. The method of claim 1 , wherein the presence of the physical divider is determined independently for a left side, a right side, or a combination thereof of the road segment.

10. An apparatus for detecting a presence of a physical divider on a road segment 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 a number of positive observations of the physical divider on the road segment and a number of negative observations of the physical divider on the road segment;
calculate a probability of the presence of the physical divider based on the number of the positive observations and the number of the negative observations; and
update map data for the road segment to indicate the presence of the physical divider based on determining that the probability of the presence of the physical divider is greater than a threshold value.

11. The apparatus of claim 10 , wherein the apparatus is further caused to:
calculate the threshold value based on ground truth data indicating a known presence, a known absence, or a combination thereof of a plurality of reference physical dividers on a plurality of reference road segments.

12. The apparatus of claim 10 , wherein the apparatus is further caused to:
filter the positive observations, the negative observations, or a combination thereof based on determining that one or more corresponding vehicles are farther than a distance threshold from the physical divider on the road segment when the positive observations, the negative observations, or a combination thereof were collected,
wherein the number of the positive observations, the number of the negative observations, or a combination thereof is determined based on the filtered positive observations, the filtered negative observations, or a combination thereof.

13. The apparatus of claim 10 , wherein the number of the positive observations and the number of the negative observations are based on sensor data collected from one or more vehicles traveling the road segment, and wherein the sensor data comprises a plurality of probe trajectories including a plurality of physical divider flags sequenced in time.

14. The apparatus of claim 13 , wherein the positive observations are extracted by segmenting a portion of the plurality of probe trajectories that corresponds to the road segment, and wherein the portion begins with a positive flag and ends with a negative flag as determined from the plurality of physical divider flags.

15. The apparatus of claim 13 , wherein the negative observations are extracted by segmenting a portion of the plurality of probe trajectories that corresponds to the road segment, and wherein the portion begins with a negative flag and ends with a positive flag as determined from the plurality of physical divider flags.

16. A non-transitory computer-readable storage medium detecting a presence of a physical divider on a road segment, carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to perform:
determining a number of positive observations of the physical divider on the road segment and a number of negative observations of the physical divider on the road segment;
calculating a probability of the presence of the physical divider based on the number of the positive observations and the number of the negative observations; and
updating map data for the road segment to indicate the presence of the physical divider based on determining that the probability of the presence of the physical divider is greater than a threshold value.

17. The non-transitory computer-readable storage medium of claim 16 , wherein probability of the presence of the physical divider is calculated based on a ratio of the number of positive observations to a total number of the positive observations and the negative observations.

18. The non-transitory computer-readable storage medium of claim 16 , wherein the apparatus is caused to further perform:
calculating the threshold value based on ground truth data comprising a data on a known presence, a known absence, or a combination thereof of a plurality of reference physical dividers on a plurality of reference road segments.

19. The non-transitory computer-readable storage medium of claim 16 , wherein the road segment is one segment of a plurality of segments of a road link, and wherein the presence of the physical divider for each of the plurality of segments is determined independently.

20. The non-transitory computer-readable storage medium of claim 16 , wherein the presence of the physical divide

Assignees

• Here Global Bv

Inventors

• Averbuch Alex
• Stenneth Leon

Classifications

• G06V20/588 Primary

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• G06F18/217

  Validation; Performance evaluation; Active pattern learning techniques · CPC title

• G06F16/29

  Geographical information databases · CPC title

• G01C21/30

  Map- or contour-matching · CPC title

• G06F16/2365

  Ensuring data consistency and integrity · CPC title