System and method for creating, storing, and updating local dynamic MAP database with safety attribute

• US 20140358414A1
• Filed: 01/24/2014
• Published: 12/04/2014
• Est. Priority Date: 06/01/2013
• Status: Active Grant

• Current Assignee: Harman International Industries Incorporated (Samsung Electronics Co. Ltd.)
• Original Assignee: Savari Inc. (Samsung Electronics Co. Ltd.)
• Inventors: Ibrahim, Faroog, Sagar, Katta Vidya
• Granted Patent: US 9,435,654 B2
• Time in Patent Office: Days
• US Class Current: 701/118
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: G01C 21/10 by using measurements of speed or acceleration G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/367 Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
• CPC Class Codes: G01C 21/3867 Geometry of map features, e.g. shape points, polygons or for simplified maps
• CPC Class Codes: G06F 16/29 Geographical information databases
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0129 for creating historical data or processing based on historical data
• CPC Class Codes: G08G 1/0141 for traffic information dissemination
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle

Abstract

DSRC (Dedicated short range communication) is expected to play a significant role in Transportation applications for Public Safety and Traffic Management. Some of the key applications especially safety and mobility application requires an accurate representation of the road segments. Accordingly, here, in one example, we describe a method and infrastructure for DSRC V2X (vehicle to infrastructure plus vehicle) system. This presentation, e.g., adds the following improvements on the existing technologies, as some of the examples: (a) Using Speed-Profiles for identifying Intersections/mandatory-stops/Speed-limits, etc. Also, the extension of the map coverage using speed profile data. (b) Vehicular density identification for determining confidence of generated MAP. (c) Mechanisms for identifying Lane Attributes, like Lane-Width, Lane-Connections, Possible Movement states, average travel-time on the lane, etc. In this presentation, we provide various methods and systems to manage and update such maps and its corresponding information, plus many variations on those.

Claims

1. A method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, said method comprising:

a central computer receiving speed profiles from vehicles in said street or highway from an input device;

an analyzer module or device determining vehicular density for said vehicles in said street or highway;

an identifier module or device determining lane attributes for a lane in said street or highway;

receiving traffic controller data for said street or highway;

integrating said traffic controller data for said street or highway into map data;

identifying temporary and permanent changes in said map data;

updating said map data;

identifying an obstacle of mobility attribute in said map data.

2. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 1, said method comprises:

identifying intersections for said street or highway.

3. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 1, said method comprises:

identifying an idle vehicle, impeding traffic situation, or accident in said street or highway.

4. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 1, said method comprises:

using a short range communication device with a road-side equipment in infrastructure and an on-board unit in a first vehicle.

5. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 1, said method comprises:

detecting a status of said traffic controller data and determining a correlation with said status of said traffic controller data.

6. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 1, said method comprises:

storing said map data.

7. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 1, said method comprises:

storing location, heading, and speed of a car.

8. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 1, said method comprises:

storing a time-stamp for a basic safety message.

9. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 1, said method comprises:

generating lanes for said street or highway.

10. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 1, said method comprises:

combining paths for said street or highway.

11. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 1, said method comprises:

using statistical analysis for paths with outlier filtering.

12. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 1, said method comprises:

using weights for paths.

13. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 1, said method comprises:

detecting a lane change event.

14. A method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, said method comprising:

a central computing device receiving vehicle data for a vehicle;

wherein said vehicle data comprises location, speed, and heading of said vehicle, and corresponding time stamp;

said central computing device generating a map using said vehicle data;

a map analyzer device identifying a map region using speed profile data collected on each road segment;

said map analyzer device building a path history for said vehicle data;

when enough of said vehicle data is captured, said map analyzer generating a temporary map.

15. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 14, said method comprises:

constructing lanes by clustering vehicles'"'"' paths using separation distance;

combining said vehicles'"'"' paths inside resulting clusters using statistical weighting method and using heading angle data;

filtering data which belongs to a lane change event.

16. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 14, said method comprises:

determining intersection region using vehicles'"'"' speed profiles, vehicles'"'"' heading angles, and vehicles'"'"' travel path intersects;

detecting when and where said vehicle stops;

correlating locations where said vehicle stops with lanes exit lines;

detecting vehicle locations where significant change in heading occurs;

identifying an intersection region of moving vehicle paths with significant heading angle difference approach;

constructing a convex polygon;

splitting a lane using said convex polygon.

17. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 14, said method comprises:

determining ingress and egress lane types using correlation between said heading of said vehicle and lane heading, and said vehicle'"'"'s motion inside a lane.

18. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 14, said method comprises:

determining approach set for every lane by combining incoming and outgoing lanes that fall on one side of a polygon and have similar or opposite heading angles.

19. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 14, said method comprises:

determining connected lanes by observing said vehicle'"'"'s motion along ingress and egress lanes;

determining a maneuver type to go between ingress and egress, as labeled as left, right, or straight.

20. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 14, said method comprises:

improving map generation using signal data available from a traffic controller;

correlating said traffic controller'"'"'s signal phase data with vehicle motion status.

21. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 14, said method comprises:

detecting abnormal traffic condition by observing vehicle density profile and vehicle path matching performance;

determining different types of conditions for abnormality as idle vehicle, accident, work zone, or a permanent or temporary change in a road.

22. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 14, said method comprises:

improving map maintenance using signal data from a traffic controller;

verifying that existing matching between vehicle motion and signal phase data for each lane is still the same.

23. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 14, said method comprises:

storing two maps as base map and look-aside map;

when enough confidence is built, moving said look-aside map to said base map to replace parts of said base map.

24. The method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, as recited in claim 14, said method comprises:

detecting an idle vehicle or broken-down vehicle;

sharing location of said idle vehicle or broken-down vehicle with other vehicles, as a safety attribute.