Methods and systems for generating a horizon for use in an advanced driver assistance system (ADAS)
First Claim
1. A method of generating a horizon for use in an Advanced Driver Assistance System (ADAS) of a vehicle using stored digital map data, wherein the digital map data comprises a plurality of segments representative of roads of a road network, each segment being associated with data indicative of one or more attributes of the road represented by the segment, wherein one of the attributes is speed profile data that is indicative of an average speed of travel for traversing the road during one or more time periods, said method comprising:
- determining data indicative of a relative probability that each of a plurality of possible outgoing paths associated with a decision point of the road network will be taken by the vehicle using at least the average speed for the time period appropriate for the time at which the horizon is generated from the speed profile data associated with the segments defining the respective outgoing paths, wherein the relative probability for each outgoing path is a respective portion of a specified total probability value for the decision point and the probabilities for each outgoing path sum to the specified total probability value;
determining one or more predicted paths that the vehicle is expected to travel in the immediate future at the decision point using the data indicative of the relative probability;
generating the horizon using the one or more predicted paths; and
providing data associated with the generated horizon to one or more applications, the data associated with the generated horizon configured to be used by the one or more applications when controlling corresponding vehicle subsystems.
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Accused Products
Abstract
A method of generating a horizon for use by an ADAS of a vehicle involves using digital location-based data, driver data and/or vehicle data to determine the likelihood that different outgoing paths are taken at a decision point along a currently traversed road segment, and deriving a probability that each path may be taken. The probability may be based on one or more of: an angle of the path relative to the incoming path, the road class of the path, a speed profile of the path, historical paths taken by vehicles at the decision point, and historical paths taken at the decision point by the individual driver or vehicle.
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Citations
19 Claims
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1. A method of generating a horizon for use in an Advanced Driver Assistance System (ADAS) of a vehicle using stored digital map data, wherein the digital map data comprises a plurality of segments representative of roads of a road network, each segment being associated with data indicative of one or more attributes of the road represented by the segment, wherein one of the attributes is speed profile data that is indicative of an average speed of travel for traversing the road during one or more time periods, said method comprising:
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determining data indicative of a relative probability that each of a plurality of possible outgoing paths associated with a decision point of the road network will be taken by the vehicle using at least the average speed for the time period appropriate for the time at which the horizon is generated from the speed profile data associated with the segments defining the respective outgoing paths, wherein the relative probability for each outgoing path is a respective portion of a specified total probability value for the decision point and the probabilities for each outgoing path sum to the specified total probability value; determining one or more predicted paths that the vehicle is expected to travel in the immediate future at the decision point using the data indicative of the relative probability; generating the horizon using the one or more predicted paths; and providing data associated with the generated horizon to one or more applications, the data associated with the generated horizon configured to be used by the one or more applications when controlling corresponding vehicle subsystems. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory computer readable medium storing instructions that, when executed by a processor, cause the processor to perform a method for generating a horizon for use in an Advanced Driver Assistance System (ADAS) of a vehicle using stored digital map data, wherein the digital map data comprises a plurality of segments representative of roads of a road network, each segment being associated with data indicative of one or more attributes of the road represented by the segment, wherein one of the attributes is speed profile data that is indicative of an average speed of travel for traversing the road during one or more time periods, said method comprising:
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determining data indicative of a relative probability that each of a plurality of possible outgoing paths associated with a decision point of the road network will be taken by the vehicle using at least the average speed for the time period appropriate for the time at which the horizon is generated from the speed profile data associated with the segments defining the respective outgoing paths, wherein the relative probability for each outgoing path is a respective portion of a specified total probability value for the decision point and the probabilities for each outgoing path sum to the specified total probability value; determining one or more predicted paths that the vehicle is expected to travel in the immediate future at the decision point using the data indicative of the relative probability; generating the horizon using the one or more predicted paths; and providing data associated with the generated horizon to one or more applications, the data associated with the generated horizon configured to be used by the one or more applications when controlling corresponding vehicle subsystems. - View Dependent Claims (15, 16, 17, 18, 19)
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11. A system for generating a horizon for use in an Advanced Driver Assistance System (ADAS) of a vehicle using stored digital map data, wherein the digital map data comprises a plurality of segments representative of roads of a road network, each segment being associated with data indicative of one or more attributes of the road represented by the segment, wherein one of the attributes is speed profile data that is indicative of an average speed of travel for traversing the road during one or more time periods, said system comprising:
at least one processor, the at least one processor configured to; determine data indicative of a relative probability that each of a plurality of possible outgoing paths associated with a decision point of the road network will be taken by the vehicle using at least the average speed for the time period appropriate for the time at which the horizon is generated from the speed profile data associated with the segments defining the respective outgoing paths; determine one or more predicted paths that the vehicle will be expected to travel in the immediate future at the decision point using the data indicative of the relative probability; generate the horizon using the one or more predicted paths; and provide data associated with the generated horizon to one or more applications, the data associated with the generated horizon configured to be used by the one or more applications when controlling corresponding vehicle subsystems. - View Dependent Claims (12, 13, 14)
Specification