US Patent 10482761 Lane-level geometry and traffic information

Provided herein is a method for establishing lane-level data from probe data. Methods may include receiving probe data points associated with a plurality of vehicles; determining, for each of the probe data points, a location and road segment corresponding to the location; generating, from the probe data points associated with a first road segment, a probe density histogram for the first road segment, where the probe density histogram represents a volume of probe data points at each of a plurality of positions across a width of the first road segment; applying a deconvolution method to the probe density histogram to obtain a multi-modal histogram; determining, from the multi-modal histogram, a number of statistically significant peaks, where each statistically significant peak represents a lane of the first road segment; and computing, from the multi-modal histogram, lane-level properties of the probe data of the first road segment.