Path curve confidence factors

Patent metadata

Field	Value
Publication number	US-9423261-B2
Application number	US-201313769985-A
Country	US
Kind code	B2
Filing date	Feb 19, 2013
Priority date	Feb 19, 2013
Publication date	Aug 23, 2016
Grant date	Aug 23, 2016

Abstract

In one embodiment, navigational features of a navigation device are activated or deactivated according to the accuracy of the geographic data. The navigation features may be predictive features related to upcoming portions of a path curve. The path curve is compared to measured data. For example, a first curve is accessed from a map database and a second curve is based on measured position data collected while traversing the path. The first curve and the second curve correspond to the same geographic area. A difference of an attribute between a section of the first curve and a section of the second curve is used to assign a confidence factor to the section of the first polycurve based on the difference. The attribute may be heading, position, curvature, or another aspect of the path curves.

First claim

We claim:

1. A method comprising:
obtaining a first spline representing a path from a map database;
generating a second spline based on measured position data collected while traversing the path;
performing, with a processor, an alignment between a section of the first spline spanning a geographic distance and a section of the second spline corresponding the geographic distance, wherein the section of the first spline corresponds geographically to the section of the second spline;
calculating, with a processor, a relative error (RE) between a first attribute (A1) for the section of the first spline spanning a geographic distance and a second attribute (A2) for the section of the second spline corresponding the geographic distance according to:
RE=( A 1− A 2)/ A 2,

wherein the section of the first spline corresponds geographically to the section of the second spline;
assigning a confidence factor for a navigation feature to the section of the first spline based on the relative error;
identifying a section of the second spline corresponding the geographic distance;
comparing the section of the second spline based on measured position data to a minimum curve threshold,
wherein when the section of the second spline exceeds the minimum curve threshold, the alignment is performed, and when the section of the second spline is less than the minimum curve threshold, the section of the second spline is excluded from alignment; and
reporting the confidence factor to a map developer.

2. The method of claim 1 , further comprising:
enabling at least one feature of a navigation device based on the confidence factor.

3. The method of claim 1 , further comprising:
comparing the confidence factor to a threshold confidence level;
activating a first mode for a navigation feature if the confidence factor exceeds the threshold confidence level; and
activating a second mode for the navigation feature if the confidence factor is less than the threshold confidence level.

4. The method of claim 1 , wherein the relative error between the section of the first spline and the section of the second spline is a relative difference in position.

5. The method of claim 1 , wherein the relative error between the section of the first spline and the section of the second spline is a relative difference in heading.

6. The method of claim 1 , wherein the relative error between the section of the first spline and the section of the second spline is a relative difference in curvature.

7. The method of claim 1 , further comprising:
calculating a correlation value for a plurality of sections of the first spline by comparing a plurality of sections of the second spline, wherein the first spline corresponds to link geometry in the map database.

8. The method of claim 1 , wherein the first spline is defined by at least one control point and at least one knot.

9. 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 at least:
obtaining a first spline representing a path from a map database;
generating a second spline based on measured position data collected while traversing the path;
calculating, with a processor, a relative error (RE) between a first attribute (A1) for a section of the first spline spanning a geographic distance and a second attribute (A2) for a section of the second spline corresponding the geographic distance according to RE=(A1−A2)/A2, wherein the section of the first spline corresponds geographically to the section of the second spline; and
assigning a confidence factor for a navigation feature to the section of the first spline based on the relative error, wherein the relative error between the section of the first spline and the section of the second spline is a relative difference in curvature; and
excluding a subsequent section of the first spline when a curvature of the subsequent section is below a minimum curvature threshold.

10. The method of claim 7 , further comprising:
excluding at least one of the plurality of sections of the first spline when the correlation value is less than a correlation threshold.

11. The method of claim 7 , wherein the correlation value is based on shape.

12. The apparatus of claim 9 , the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to at least:
performing an alignment between the section of the first spline spanning the geographic distance and the section of the second spline corresponding the geographic distance, wherein the section of the first spline corresponds geographically to the section of the second spline.

13. The apparatus of claim 9 , wherein the first spline is defined by at least one control point defining a first polynomial and at least one knot joining the first polynomial with a second polynomial.

14. The apparatus of claim 9 , wherein the confidence factor is reported to a map developer.

15. A non-transitory computer readable medium including instructions that when executed by a processor are operable to:
access a first spline representing a path in a map database;
generate a second spline based on measured data collected while traversing the path;
identifying a section of the second spline spanning a predetermine geographic distance;
comparing the section of the second spline to a minimum curve threshold;
when the section of the second spline exceeds the minimum curve threshold, performing an alignment between a section of the first spline spanning the predetermined geographic distance and the section of the second spline corresponding the predetermined geographic distance, wherein the section of the first spline corresponds geographically to the section of the second spline,
when the section of the second spline is less than the minimum curve threshold, the section of the second spline is excluded from alignment;
calculate a difference between the section of the first spline and the section of the second spline, wherein the section of the first spline corresponds geographically to the section of the second spline; and
assign a confidence factor to the section of the first spline based on the difference; wherein the confidence factor controls a navigation feature,
wherein the difference between the section of the first spline and the section of the second spline is a relative error (RE) between a first attribute (A1) for the section of the first spline a second attribute (A2) for according to:
RE=( A 1− A 2)/ A 2.

16. The non-transitory computer readable medium of claim 15 , wherein the difference between the section of the first spline and the section of the second spline is a relative difference in heading.

17. The non-transitory computer readable medium of claim 15 , wherein the difference between the section of the first spline and the section of the second spline is a relative difference in curvature.

18. The non-transitory computer readable medium of claim 15 , wherein the first spline is defined by at least one control point and at least one knot.

Assignees

• Navteq Bv
• Here Global Bv

Inventors

• Dorum Ole Henry
• Lynch James D

Classifications

• G01C21/34 Primary

  Route searching; Route guidance · CPC title

• G01C21/32

  Structuring or formatting of map data · CPC title

• G01C21/3841

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

• G01C21/3844 Primary

  Data obtained from position sensors only, e.g. from inertial navigation · CPC title

• G01C21/3819

  Road shape data, e.g. outline of a route · CPC title