Method, apparatus, and computer program product for real-time map-matching

Patent metadata

Field	Value
Publication number	US-12017680-B2
Application number	US-202117646029-A
Country	US
Kind code	B2
Filing date	Dec 27, 2021
Priority date	Dec 27, 2021
Publication date	Jun 25, 2024
Grant date	Jun 25, 2024

Abstract

A method, apparatus, and computer program product are provided for real-time map-matching of probe data. Methods may include: receiving a plurality of probe data points; receiving an indication of changes to the road network, where the indication of changes includes an addition of new road segments and a removal of closed road segments; map-matching the plurality of probe data points to one or more road segments of the road network based on closest candidate road segments to form map-matched probe data; in response to a closest candidate road segment for one or more probe data points of the plurality of probe data points corresponding to a closed road segment, map-matching the one or more probe data points to a next closest candidate road segment in the map-matched probe data; and updating dynamic map data with the map-matched probe data.

First claim

That which is claimed:

1. 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, the plurality of probe data points are received from probe apparatuses traveling within a road network;
receive an indication of changes to the road network, wherein the indication of changes comprises an addition of new road segments and a removal of closed road segments;
map-match the plurality of probe data points to one or more road segments of the road network based on closest candidate road segments to form map-matched probe data;
in response to determining a closest candidate road segment for one or more probe data points of the plurality of probe data points corresponds to a closed road segment, map-match the one or more probe data points to a next closest candidate road segment determined in the map-matched probe data; and
update map data with the map-matched probe data, wherein the map data is used for at least one of route guidance or at least semi-autonomous control of vehicles traveling within the road network.

2. The apparatus of claim 1 , wherein causing the apparatus to map-match the plurality of probe data points to one or more road segments of the road network comprises causing the apparatus to map-match each of the plurality of probe data points to a candidate road segment using a Hidden Markov Model.

3. The apparatus of claim 1 , wherein the closest candidate road segment for the one or more probe data points of the plurality of probe data points is determined based on a distance of the one or more probe data points to the closest candidate road segment.

4. The apparatus of claim 1 , wherein the closest candidate road segment for the one or more probe data points of the plurality of probe data points is determined based on a distance of the one or more probe data points to the closest candidate road segment and a heading of the one or more probe data points relative to a heading of the closest candidate road segment.

5. The apparatus of claim 1 , wherein the map data of the road network is stored in a map database, wherein the indication of changes to the road network comprising the addition of new road segments and the removal of closed road segments comprises an update to the map data of the road network.

6. The apparatus of claim 5 , wherein the update to the map data of the road network comprises link identifiers of closed road segments and new link identifiers for new road segments.

7. The apparatus of claim 6 , wherein causing the apparatus to map-match the plurality of probe data points to one or more road segments of the road network based on the closest candidate road segments to form map-matched probe data comprises causing the apparatus to map-match one or more probe data points to a new link identifier of a new road segment.

8. A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code portions stored therein, the computer-executable program code portions comprising program code instructions configured to:
receive a plurality of probe data points, the plurality of probe data points are received from probe apparatuses traveling within a road network;
receive an indication of changes to the road network, wherein the indication of changes comprises an addition of new road segments and a removal of closed road segments;
map-match the plurality of probe data points to one or more road segments of the road network based on closest candidate road segments to form map-matched probe data;
in response to determining a closest candidate road segment for one or more probe data points of the plurality of probe data points corresponds to a closed road segment, map-match the one or more probe data points to a next closest candidate road segment determined in the map-matched probe data; and
update map data with the map-matched probe data, wherein the map data is used for at least one of route guidance or at least semi-autonomous control of vehicles traveling within the road network.

9. The computer program product of claim 8 , wherein the program code instructions to map-match the plurality of probe data points to one or more road segments of the road network comprise program code instructions to map-match each of the plurality of probe data points to a candidate road segment using a Hidden Markov Model.

10. The computer program product of claim 8 , wherein the closest candidate road segment for the one or more probe data points of the plurality of probe data points is determined based on a distance of the one or more probe data points to the closest candidate road segment.

11. The computer program product of claim 8 , wherein the closest candidate road segment for the one or more probe data points of the plurality of probe data points is determined based on a distance of the one or more probe data points to the closest candidate road segment and a heading of the one or more probe data points relative to a heading of the closest candidate road segment.

12. The computer program product of claim 8 , wherein the map data of the road network is stored in a map database, wherein the indication of changes to the road network comprising the addition of new road segments and the removal of closed road segments comprises an update to the map data of the road network.

13. The computer program product of claim 12 , wherein the update to the map data of the road network comprises link identifiers of closed road segments and new link identifiers for new road segments.

14. The computer program product of claim 13 , wherein the program code instructions to map-match the plurality of probe data points to one or more road segments of the road network based on the closest candidate road segments to form map-matched probe data comprise program code instructions to map-match one or more probe data points to a new link identifier of a new road segment.

15. A method comprising:
receiving a plurality of probe data points, the plurality of probe data points are received from probe apparatuses traveling within a road network;
receiving an indication of changes to the road network, wherein the indication of changes comprises an addition of new road segments and a removal of closed road segments;
map-matching the plurality of probe data points to one or more road segments of the road network based on closest candidate road segments to form map-matched probe data;
in response to determining a closest candidate road segment for one or more probe data points of the plurality of probe data points corresponds to a closed road segment, map-matching the one or more probe data points to a next closest candidate road segment determined in the map-matched probe data; and
updating map data with the map-matched probe data, wherein the map data is used for at least one of route guidance or at least semi-autonomous control of vehicles traveling within the road network.

16. The method of claim 15 , wherein the map-matching the plurality of probe data points to one or more road segments of the road network comprises map-matching each of the plurality of probe data points to a candidate road segment using a Hidden Markov Model.

17. The method of claim 15 , wherein the closest candidate road segment for the one or more probe data points of the plurality of probe data points is determined based on a distance of the one or more probe

Assignees

• Here Global Bv

Inventors

• Fowe James Adeyemi
• Bernhardt Bruce

Classifications

• G01C21/3815 Primary

  Road data · CPC title

• G01C21/30

  Map- or contour-matching · CPC title

• G01C21/3841

  Data obtained from two or more sources, e.g. probe vehicles · CPC title

• B60W60/001 Primary

  Planning or execution of driving tasks · CPC title