Systems and methods for determining a path of a moving device

Patent metadata

Field	Value
Publication number	US-11017662-B2
Application number	US-202016750010-A
Country	US
Kind code	B2
Filing date	Jan 23, 2020
Priority date	Mar 14, 2016
Publication date	May 25, 2021
Grant date	May 25, 2021

Abstract

The present disclosure relates to systems and methods for determining a path of a moving vehicle. The systems may perform the methods to obtain a plurality of location points relating to a moving device; determine at least one average velocity of the moving device between two of the plurality of location points; remove at least one interfering location point from the plurality of location points based on the at least one average velocity; determine remainders of the plurality of location points as a set of effective location points based on the at least one average velocity; determine a path of the moving device based on the set of effective location points; and store data for the path of the moving device in the one or more storage media.

First claim

We claim:

1. A system comprising A system, comprising:
a bus;
one or more storage media electronically connected to the bus, including a set of instructions for determining a path of a moving device; and
logic circuits electronically connected to the at least one storage medium via the bus, wherein during operation, the logic circuits load the set of instructions and for each moving device of a plurality of moving devices:
obtain electronic signals associated with a plurality of location points relating to a moving device;
determine a set of effective location points from the plurality of location points;
determine a path of the moving device based on the set of effective location points; and
send electronic signals to the bus to store data for the path of the moving device in the one or more storage media,

wherein to determine the set of effective location points from the plurality of location points, the logic circuits further:
rank the plurality of location points chronologically;
during one or more iterations,
select a first point, a second point, and a third point from the plurality of location points in order according to the ranking, the first point including an earliest location point of the plurality of location points or a latest effective location point from a previous iteration;
determine three average velocities of the moving device, the three average velocities of the moving device including a first average velocity between the first point and the second point, a second average velocity between the second point and the third point, and a third average velocity between the first point and the third point;
perform a comparison between the three average velocities with a reference velocity;
determine whether an interfering location point appears from the first point, the second point, and the third point based on the comparison;
remove the interfering location point when the interfering location point appears; and
determine at least one effective location point from remainder of the first location point, the second location point, and the third location point; and

determine remainders of the plurality of location points as the set of effective location points.

2. The system of claim 1 , wherein the logic circuits further:
identify a region where the plurality of location points located; and
determine that map data is unavailable to the region.

3. The system of claim 1 , wherein the logic circuits further:
construct a map based on paths corresponding to a plurality of moving devices.

4. The system of claim 1 , wherein the reference velocity is a maximum one of the three average velocities.

5. The system of claim 1 , wherein to determine the path of the moving device based on the set of effective location points, the logic circuits further:
select a first effective location point, a second effective location point, and a third effective location point from the set of effective location points;
determine a first line based on the first effective location point, the second effective location point, and the third effective location point; and
determine the path of the moving device based on the first line.

6. The system of claim 5 , wherein to select the first effective location point, the second effective location point, and the third effective location point from the set of effective location points, the logic circuits further:
rank the set of effective location points chronologically; and
select three effective location points from the set of effective location points in order according to the ranking.

7. The system of claim 5 , wherein the one or more processors are further directed to:
select a fourth effective location point from the set of effective location points;
determine a corresponding point to the fourth effective location point on the first line;
determine a distance between the fourth effective location point and the corresponding point;
determine the distance is less than a threshold;
update the first line based on the corresponding point; and
determine the path of the moving device based on the updated first line.

8. The system of claim 7 , wherein the logic circuits further:
determine the distance is larger than the threshold; and
determine the fourth effective location point as a turning point of the path.

9. The system of claim 8 , wherein the logic circuits further:
update the path of the moving device based on the first line and the turning point.

10. The system of claim 8 , wherein the logic circuits further:
select a fifth effective location point and a sixth effective location point; determine a second line based on the turning point, the fifth effective
location point, and the sixth effective location point; and
update the path of the moving device based on the first line and the second line.

11. A method, comprising:
obtaining, by at least one electronic device, a plurality of location points relating to a moving device;
determine, by at least one electronic device, a set of effective location points from the plurality of location points;
determining, by the at least one electronic device, a path of the moving device based on the set of effective location points; and
storing, by the at least one electronic device, data for the path in the one or more storage media,

wherein the determining the set of effective location points from the plurality of location points further comprises:
ranking, by at least one electronic device, the plurality of location points chronologically;
during one or more iterations,
selecting, by at least one electronic device, a first point, a second point, and a third point from the plurality of location points in order according to the ranking, the first point including an earliest location point of the plurality of location points or a latest effective location point from a previous iteration;
determining, by at least one electronic device, three average velocities of the moving device, the three average velocities of the moving device including a first average velocity between the first point and the second point, a second average velocity between the second point and the third point, and a third average velocity between the first point and the third point;
performing, by at least one electronic device, a comparison between the three average velocities with a reference velocity;
determining, by at least one electronic device, whether an interfering location point appears from the first point, the second point, and the third point based on the comparison;
removing, by at least one electronic device, the interfering location point when the interfering location point appears; and
determining, by at least one electronic device, at least one effective location point from remainder of the first location point, the second location point, and the third location point; and

determining remainders of the plurality of location points as the set of effective location points.

12. The method of claim 11 , further comprising:
identifying, by the at least one electronic device, a region where the plurality of location points located; and
determining, by the at least one electronic device, that map data is unavailable to the region.

13. The method of claim 11 , further comprising:
constructing, by the at least one electronic device, a map based on paths corresponding to a plurality of moving devices.

14. The method of claim 11 , wherein the reference velocity is a maximum one of the three average velocities.

15. The method of claim 11 , wherein the determining of the path

Assignees

• Beijing Didi Infinity Technology & Dev Co Ltd

Inventors

• Ren Cong
• Hu Qidong
• Liu Boyu

Classifications

• G01S19/39

  the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO · CPC title

• G08G1/0104 Primary

  Measuring and analyzing of parameters relative to traffic conditions · CPC title

• G01C21/28 Primary

  with correlation of data from several navigational instruments · CPC title

• G01C21/32

  Structuring or formatting of map data · CPC title