Patent ID: 11898868
Assignee: HERE GLOBAL B.V.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. A computer program product comprising a non-transitory computer readable medium having stored thereon computer executable instruction which when executed by at least one processor, cause the at least one processor to carry out operations for identifying redundant road lane detections, the operations comprising:
determining, based on sensor data, a plurality of road lane detections associated with a road link represented by map data;
determining a cluster associated with the road link in accordance with a clustering criterion, the cluster including at least some of the plurality of road lane detections;
establishing a plurality of road lane detection groups by one or more of (i) respectively grouping any road lane detections of the cluster that are connected with one another, or (ii) establishing a given road lane detection group respectively for each unconnected road lane detection of the cluster;
identifying, from among the plurality of road lane detections, one or more redundant road lane detections by evaluating one or more of the plurality of road lane detection groups according to one or more of a parallel-detection criterion or a heading-difference criterion, wherein identifying the one or more redundant road lane detections according to the heading-difference criterion includes (i) determining for each road lane detection in a road lane detection group of the plurality of road lane detection groups a road lane detection heading value, (ii) determining for the road lane detection group a group heading value, (iii) calculating a heading difference value between the road lane detection heading value of each road lane detection and the group heading value, and (iv) detecting the road lane detection having the heading difference value more than a predetermined heading difference value threshold as the redundant road lane detection; and
performing a computer-implemented update process to remove the identified one or more redundant road lane detections from the map data.