US 12,253,365 B2
Method, apparatus, and system for aggregating a route based on high-resolution sampling
Zhenhua Zhang, Chicago, IL (US); and Aparna Rajagopal, Mumbai (IN)
Assigned to HERE GLOBAL B.V., Eindhoven (NL)
Filed by HERE Global B.V., Eindhoven (NL)
Filed on Sep. 15, 2021, as Appl. No. 17/476,137.
Prior Publication US 2023/0080319 A1, Mar. 16, 2023
Int. Cl. G01C 21/34 (2006.01); B60W 60/00 (2020.01); G01C 21/00 (2006.01); G01C 21/30 (2006.01); G01C 21/36 (2006.01)
CPC G01C 21/3415 (2013.01) [B60W 60/001 (2020.02); G01C 21/30 (2013.01); G01C 21/3461 (2013.01); G01C 21/3626 (2013.01); G01C 21/3807 (2020.08); B60W 2556/50 (2020.02)] 15 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, at one or more processors, a sequence of location data points representing a path traveled in a geographic area, wherein the sequence of location data is acquired via one or more sensors;
generating, by the one or more processors, an initial link set comprising a first predetermined number of a plurality of traveled link options based on an initial location data point of the sequence, wherein each of the plurality of traveled link options respectively comprises one or more road links of a geographic database to which the initial location data point is matched;
determining, by the one or more processors, a second predetermined number of a plurality of probable matching road links of the geographic database for a next location data point of the sequence;
computing, by the one or more processors, a plurality of respective probabilities for a plurality of respective pairs of (i) the plurality of traveled link options and (ii) the plurality of probable matching road links, wherein each probability, from among the plurality of respective probabilities, respectively indicates a likelihood that one or more road links comprised within a traveled link option and a probable matching road link of the respective pair are connected;
aggregating, by the one or more processors, the plurality of respective pairs to reduce a number of the plurality of respective pairs into the first predetermined number or another predetermined number of traveled link options of a new link set based on the plurality of respective probabilities;
processing, by the one or more processors, the sequence of location data points, one or more characteristics of the sequence location data points, other sensor data associated with the sequence of location data points to determine one or more indications of a road incident;
flagging, by the one or more processors, the one or more road links of the initial link set, the new link set, or a combination thereof associated with the one or more indications of the road incident as low-reliability map data; and
initiating, by the one or more processors, a map update, a validation, or a combination thereof the geographic database based on the flagging.