Methods and systems for generating a horizon for use in an advanced driver assistance system (ADAS)

• US 10,527,432 B2
• Filed: 07/31/2017
• Issued: 01/07/2020
• Est. Priority Date: 11/02/2012
• Status: Active Grant

• Current Assignee: TomTom Navigation B.V (TomTom NV)
• Original Assignee: TomTom Navigation B.V (TomTom NV)
• Inventors: Manoliu, Adrian-Victor, Serbanescu, Alexandru, Trofimov, Sergey Yuryevich, Raginsky, Alexander, Zheltov, Stanislav, Koponen, Lauri, Schaminee, Johannes G. M.
• Primary Examiner(s): Nguyen, Nga X
• Application Number:
  US15/663,927
• Publication Number:
  US 20170328720A1
• Time in Patent Office: 890 Days
• CPC Class Codes: B60R 16/023 for transmission of signals between vehicle parts or subsystems
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/32 Structuring or formatting of map data
• CPC Class Codes: G01C 21/3484 Personalized, e.g. from learned user behaviour or user-defined profiles
• CPC Class Codes: G01C 21/3667 Display of a road map G01C21/3614 takes precedence; guidance using 3D or perspective road maps G01C21/3635
• CPC Class Codes: G06F 16/29 Geographical information databases
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

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.

Claims

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.

2. The method of claim 1, further comprising obtaining a current speed of the vehicle as it approaches the decision point, and wherein the data indicative of the relative probability is determined by comparing the current vehicle speed with the average speed data indicated by speed profile data associated with the segment representing each outgoing path, wherein a relatively higher probability is associated with an outgoing path providing a relatively smaller difference in speed compared to the current vehicle speed.

3. The method of claim 1, wherein a relatively higher probability is associated with an outgoing path having a relatively higher average speed for the time period.

4. The method of claim 1, wherein the one or more predicted paths comprise one or both of a most probable path and an alternative path.

5. The method of claim 1, wherein the time period appropriate for the time at which the horizon is generated is the time period including:

the current time;

or an expected time at which the road represented by the segment is to be traversed.

6. The method of claim 1, wherein the data indicative of the one or more attributes of the road represented by each segment includes data indicative of other attributes, including one or more of:

a geometry of the road;

a gradient of the road;

an angle of the road;

a road class of the road;

a speed limit associated with the road; and

vehicle flow data indicative of vehicle flow along the road, and wherein determining the data indicative of the 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 comprises using one or more of the other attributes associated with the segments defining the respective outgoing paths.

7. The method of claim 1, wherein the data indicative of the relative probability is determined using data indicative of an angle defined between the possible outgoing path and the incoming path, and wherein a possible outgoing path is relatively more probable when the outgoing path is associated with a relatively lower angle relative to the incoming path.

8. The method of claim 1, further comprising ranking the plurality of possible outgoing paths according to the likelihood that the vehicle may be expected to travel along the paths and/or determining a probability factor in respect of each path indicative of the relative probability that the path will be taken.

9. The method of claim 1, wherein generating the horizon is carried out by a horizon generating subsystem of the ADAS, and wherein providing the data associated with the generated horizon to the one or more applications comprises the horizon generating subsystem providing the data associated with the generated horizon over a vehicle bus to one or more ADAS applications of the vehicle.

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:

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.

15. The non-transitory computer readable medium of claim 10, wherein determining the data indicative of the relative probability that each of the plurality of possible outgoing paths associated with the decision point of the road network will be taken by the vehicle comprises:

comparing a current speed of the vehicle as it approaches the decision point with the average speed data indicated by speed profile data associated with the segment representing each outgoing path, wherein a relatively higher probability is associated with an outgoing path providing a relatively smaller difference in speed compared to the current vehicle speed.

16. The non-transitory computer readable medium of claim 10, wherein a relatively higher probability is associated with an outgoing path having a relatively higher average speed for the time period.

17. The non-transitory computer readable medium of claim 10, wherein the one or more predicted paths comprise one or both of a most probable path and an alternative path.

18. The non-transitory computer readable medium of claim 10, wherein the time period appropriate for the time at which the horizon is generated is the time period including one of the current time or an expected time at which the road represented by the segment is to be traversed.

19. The non-transitory computer readable medium of claim 10, wherein the data indicative of the one or more attributes of the road represented by each segment includes data indicative of other attributes, including one or more of:

a geometry of the road;

a gradient of the road;

an angle of the road;

a road class of the road;

a speed limit associated with the road; and

vehicle flow data indicative of vehicle flow along the road, and wherein determining the data indicative of the 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 comprises using one or more of the other attributes associated with the segments defining the respective outgoing paths.

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.

12. The system of claim 11, wherein the at least one processor is further configured to:

obtain a current speed of the vehicle as it approaches the decision point, and wherein the data indicative of the relative probability is determined by comparing the current vehicle speed with the average speed data indicated by speed profile data associated with the segment representing each outgoing path, wherein a relatively higher probability is associated with an outgoing path providing a relatively smaller difference in speed compared to the current vehicle speed.

13. The system of claim 11, wherein a relatively higher probability is associated with an outgoing path having a relatively higher average speed for the time period.

14. The system of claim 11, wherein the system is configured to provide data associated with the generated horizon over a vehicle bus to one or more ADAS applications of the vehicle for use by the one or more ADAS applications in controlling one or more vehicle subsystems.