公开(公告)号：US11353328B2

公开(公告)日：2022-06-07

申请号：US16177925

申请日：2018-11-01

Applicant: HERE GLOBAL B.V.

Inventor： Ole Henry Dorum

IPC: G01C21/30 ,  G01C21/34

Abstract: A navigation system, method, apparatus and computer program product process probe data utilizing map-centric map matching. In a method, the grid cell in which the probe point is located is determined from among a plurality of grid cells of a region. The method also projects the probe point onto a road center polyline segment associated with the grid cell. The road center polyline segment extends through a map matching road region having edges that are spaced apart from a road center of a road segment by a predefined distance such that a probe point inside a grid cell that is intersected by or included by the map matching region associates the probe point with the road center polyline segment and thereby with road segment as well. Traffic estimation and route guidance may be provided based upon the association of the probe point with the road segment.

公开(公告)号：US20180364063A1

公开(公告)日：2018-12-20

申请号：US15622155

申请日：2017-06-14

Applicant: HERE Global B.V.

Inventor： Ole Henry Dorum

IPC: G01C21/36 ,  G01C21/32 ,  G09B29/10

CPC classification number: G01C21/3685 ,  G01C21/32 ,  G01C21/3679 ,  G01S19/51 ,  G08G1/0112 ,  G08G1/14 ,  G08G1/147 ,  G09B29/106

Abstract: A mapping system, method and computer program product are provided to identify a parking lot from probe data. In the context of a mapping system, processing circuitry is configured to determine a parking likelihood for each grid cell based upon probe data points associated with the respective grid cells and to identify likely parking locations in instances in which the parking likelihood for a respective grid cell satisfies a predefined threshold. The processing circuitry is also configured to cluster likely parking locations to identify parking lot clusters and to determine the boundary of the parking lot pursuant to a deformable contour model which causes a polygon to expand from a respective parking lot cluster so as to represent the boundary of the parking lot. The processing circuitry is further configured to update a map to include the parking lot having the boundary determined pursuant to the deformable contour model.

公开(公告)号：US11624629B2

公开(公告)日：2023-04-11

申请号：US16827968

申请日：2020-03-24

Applicant: HERE Global, B.V.

Inventor： Ole Henry Dorum

IPC: G01C21/36 ,  B60W30/06 ,  G01C21/30 ,  G01C21/34

Abstract: A method is provided for the creation of parking lot geometry that can be used to provide guidance to a vehicle through the parking lot. Methods may include: generating a road network of a parking lot based on a plurality of probe data points; map matching the plurality of probe data points to road links of the parking lot; identifying parking lot accessor road links; identifying a building affinity link; identifying primary parking lot road links, where primary parking lot road links include at least one of a trajectory count, probe count, or average or median probe speed that is higher than a respective trajectory count, probe count, or average or median speed of non-primary parking lot road links; establishing a route from a parking lot accessor road link to the building affinity link; and providing for guidance of a vehicle along the route.

公开(公告)号：US11415431B2

公开(公告)日：2022-08-16

申请号：US16366261

申请日：2019-03-27

Applicant: HERE Global B.V.

Inventor： Ole Henry Dorum

IPC: G08G1/01 ,  G01C21/00 ,  G09B29/00 ,  G01C21/32 ,  B60W50/14 ,  G06F16/00 ,  G09B29/10 ,  B60W30/08

Abstract: A method, apparatus and computer program product are provided to disambiguate probe points within an ambiguous probe regions to permit more reliable association with a road segment. In regards to a method, probe trajectory identifiers (IDs) of probe points along at least a portion of the first and second branches that lead away from an ambiguous probe region are separately identified and form first and second sets of probe trajectory IDs, respectively. For the ambiguous probe region, the probe trajectory IDs of probe points along a third branch that leads toward the ambiguous probe region are identified and form a third set of probe trajectory IDs. The method also includes classifying probe trajectory IDs from the third set as being associated with the first branch or the second branch in an instance in which the probe trajectory IDs are additionally included in the first set or the second set, respectively.

公开(公告)号：US10378908B2

公开(公告)日：2019-08-13

申请号：US14752185

申请日：2015-06-26

Applicant: HERE Global B.V.

Inventor： Ole Henry Dorum

IPC: G01C21/32 ,  G01C21/26

Abstract: A method, apparatus and computer program product are provided to determine the stacking order of two or more roads that are vertically aligned with one another. In the context of a method, error statistics associated with probe points representative of travel along a first road are determined. In an instance in which the first road is vertically aligned with a second road, the method also includes determining whether one of the first or second roads passes beneath the other of the first or second roads based at least in part upon the error statistics associated with the probe points representative of travel along the first road. A corresponding apparatus and computer program product are also provided.

公开(公告)号：US10197404B2

公开(公告)日：2019-02-05

申请号：US15244480

申请日：2016-08-23

Applicant: HERE Global B.V.

Inventor： Ole Henry Dorum ,  James D. Lynch

IPC: G01C21/32 ,  G01C21/34

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.

公开(公告)号：US20180252536A1

公开(公告)日：2018-09-06

申请号：US15449142

申请日：2017-03-03

Applicant: HERE Global B.V.

Inventor： Ole Henry Dorum

IPC: G01C21/32 ,  G01C21/36

CPC classification number: G01C21/32 ,  G01C21/3673 ,  G01C21/3682 ,  G01C21/3694

Abstract: A method is provided for generating and revising map geometry based on probe data. A method may include: map-matching a probe data point location to a roadway; identifying an established vertex corresponding to the location along the roadway; determining an average position corresponding to the established vertex; determining a variance of the established vertex; determining a number of data points having contributed to the average position and the variance of the established vertex; calculating a revised average position and a revised variance using the probe data point location, the average position, the variance, and the number of data points; and causing storage of the revised average position and revised variance for the established vertex in the memory and increasing the number of data points having contributed to the average position and the variance of the established vertex to facilitate update of a map representation including the established vertex with the revised average position.

公开(公告)号：US20170322035A1

公开(公告)日：2017-11-09

申请号：US15147406

申请日：2016-05-05

Applicant: HERE Global B.V.

Inventor： Ole Henry Dorum

IPC: G01C21/30 ,  G08G1/01

CPC classification number: G01C21/30 ,  G01C21/32 ,  G08G1/0112

Abstract: A method, apparatus and computer program product are provided to match probe points to road segments utilizing a trajectory identifier, thereby increasing the accuracy with which probe points, such as probe points in ambiguous locations, are matched to road segments. For a probe point having a respective trajectory identifier (ID) and associated with an ambiguous link tuple, the method identifies each probe point having the respective trajectory ID that is unambiguously matched to first or second branches. The method separately determines a number of probe points having the respective trajectory ID that are unambiguously matched to the first and second branches. The method matches the probe point having the respective trajectory ID and associated with the ambiguous link tuple to either the first branch or the second branch based upon the number of probe points having the respective trajectory ID that are unambiguously matched to the first and second branches.

公开(公告)号：US20160247029A1

公开(公告)日：2016-08-25

申请号：US14625754

申请日：2015-02-19

Applicant: HERE Global B.V.

Inventor： Ole Henry Dorum

IPC: G06K9/00 ,  G06T11/20 ,  G06T3/00

CPC classification number: G06K9/00791 ,  B60W50/00 ,  G01C21/32 ,  G06F17/30241 ,  G06T3/00 ,  G06T11/203

Abstract: A method, apparatus and computer program product are provided in order to convert a representation of a road geometry in the form of an analytical curve to a clothoid road geometry. In the context of a method, a plurality of break-point locations are determined along an analytical curve that represents a portion of the road network. The method determines the plurality of break-points locations by determining the plurality of break-point locations depending upon a curvature profile of the analytical curve so as to define one more sections of the analytical curve based upon the break-point locations. The method also converts one of more sections of the analytical curve to respective clothoids.

Abstract translation: 提供了一种方法，装置和计算机程序产品，以便以分析曲线的形式将道路几何形状的表示转换为回旋道路几何形状。 在方法的上下文中，沿着表示道路网络的一部分的分析曲线来确定多个断点位置。 该方法通过根据分析曲线的曲率分布来确定多个断点位置来确定多个断点位置，以便基于断点位置定义分析曲线的多个部分。 该方法还将分析曲线的多个部分之一转化为相应的回旋曲线。

公开(公告)号：US09387860B2

公开(公告)日：2016-07-12

申请号：US14707168

申请日：2015-05-08

Applicant: HERE Global B.V.

Inventor： Ole Henry Dorum ,  Jane MacFarlane

IPC: B60W40/09 ,  G01C21/32 ,  B60W40/10 ,  B60W40/109 ,  B60W40/12 ,  G08B23/00 ,  G06F7/00 ,  G08G1/01 ,  G01C21/34 ,  B60K31/00

CPC classification number: B60W40/09 ,  B60K31/00 ,  B60K31/0066 ,  B60W40/10 ,  B60W40/109 ,  B60W40/12 ,  G01C21/32 ,  G01C21/3484 ,  G01C21/3492 ,  G06F7/00 ,  G08B23/00 ,  G08G1/0112

Abstract: In one implementation, sets of probe data are collected by probe vehicles. The probe data describes the driving characteristics of the probe vehicles. The sets of probe data are sent to a server or a mobile device for analysis. A polycurve, including a piecewise function of map data, is modified based on the probe data. The polycurve may be a spline curve for an advanced driver assistance system. The modified polycurve may be used in the advanced driver assistance system for a vehicle traveling along the same path previously traversed by the probe vehicles. Based on the polycurve modified by the probe data, a driver assistance feature is provided to the vehicle.