System and method for map matching

• US 9,037,404 B2
• Filed: 10/07/2013
• Issued: 05/19/2015
• 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
• Primary Examiner(s): Nguyen, Kim T
• Application Number:
  US14/047,157
• Publication Number:
  US 20140358322A1
• Time in Patent Office: 589 Days
• Field of Search: 701/1, 701/117, 701/408, 701/409, 701/446
• US Class Current: 701/446
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/806 Relative heading
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/55 using telemetry
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G05D 1/0055 with safety arrangements

Abstract

In one example, we describe a method, system, and infrastructure for dealing with lane-level matching problem, and provide different methods of estimating position corrections, position and map matched confidence, self-correcting map matching (i.e., Map Matching Algorithm (at lane-level)), and turning and lane change events. On the top of the described algorithms, the V2V data, when available, can be used to help the entire discussed algorithm steps. If the relative GPS accuracy between the host vehicle and the remote vehicles in the proximity of the host vehicle is enough to separate vehicle in lane, and there are enough vehicles to exist in all lanes of interest, then it becomes an easier job to determine which lane the host vehicle is in, and this can reflect very positively on all the above algorithm steps.

Claims

1. A method for map matching for control of a vehicle in a highway or street, said method comprising:

a central computer defining a reference direction;

said central computer defining a lane direction with respect to said reference direction;

said central computer defining a vehicle direction for said vehicle, with respect to said reference direction;

said central computer defining a region of interest for a map matching calculation;

said central computer defining lanes of interest for said map matching calculation;

said central computer calculating a first perpendicular distance for a first lane among said lanes of interest in said highway or street;

said central computer calculating a second perpendicular distance for a second lane among said lanes of interest in said highway or street;

a determination module matching a position of said vehicle to a specific lane, based on a first comparator module and a second comparator module;

wherein said first comparator module finds a minimum of said first perpendicular distance and said second perpendicular distance, with respect to said position of said vehicle relative to said specific lane;

a configuration module setting a threshold angle;

wherein said second comparator module confirms that an angle between said lane direction and said vehicle direction is smaller than said threshold angle.

2. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

determining if a matched lane is a right-most lane, a left-most lane, or an inner lane.

3. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

determining values of confidence of a matched lane being a right-most lane, a left-most lane, or an inner lane.

4. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

determining if said first perpendicular distance is larger than a threshold distance.

5. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

determining values of confidence of match and position.

6. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

determining value of correction.

7. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

determining if a condition holds for at least a specified period of time.

8. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

determining if a condition holds for at least a specified percentage of time.

9. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

determining a lane change event flag and applying said lane change event flag.

10. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

taking an average of distances.

11. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

clearing a lane change event flag, when turning event flag is set.

12. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

determining branching geometry and applying a branching flag.

13. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

classifying a road as straight, right, or left.

14. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

taking a minimum of two angles.

15. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

determining a turning event flag and applying said turning event flag.

16. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

performing a new lane assignment.

17. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

determining if said vehicle'"'"'s position is jumping to a new lane.

18. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

determining if said vehicle'"'"'s position is transitioning to a new lane gradually.

19. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

performing a changing road assignment.

20. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

processing relative global positioning coordinate data to determine lane assignment.

21. The method for map matching for control of a vehicle in a highway or street, as recited in claim 1, said method comprising:

applying a threshold angle for comparison for a rule or condition and accounting for a bias in heading angle or direction.