Method of representing road lanes

• US 9,494,434 B2
• Filed: 07/12/2010
• Issued: 11/15/2016
• Est. Priority Date: 06/19/2003
• Status: Expired due to Term

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Weiland, Michael, Nyczak, Gregory, McDonough, William, Tsengouras, Michael, Shuman, David, Ford, Paul
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US12/804,018
• Publication Number:
  US 20100312527A1
• Time in Patent Office: 2,318 Days
• Field of Search: 701/208
• US Class Current: 1/1
• CPC Class Codes: B60T 8/17 Using electrical or electronic regulation means to control braking detecting or indicating faulty operation B60T8/885
• 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: G06F 16/00 Information retrieval; Database structures therefor; File system structures therefor
• CPC Class Codes: G06F 16/50 of still image data
• CPC Class Codes: G06F 16/51 Indexing; Data structures therefor; Storage structures
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: Y02T 10/82 Elements for improving aerodynamics

Abstract

A method is disclosed for representing road lanes as data in a database that can be used by a system in a vehicle to provide a safety-related function. Each data representation of a physical road lane includes data indicating start and end points of the represented lane and other data attributes pertaining to the represented lane, including data indicating what physical features are adjacent to the represented lane on right and left sides thereof and data indicating a geometry of the represented lane. Further, at least some of the data representations of lanes are associated with data representations of sublanes. Each data representation of a sublane includes data indicating start and end points thereof, defined relative to the lane of which the sublane is a part. A data representation of a sublane includes at least one data attribute associated therewith that pertains to the represented sublane and that is different than the same attribute of the lane of which the sublane is a part. The database is compatible with navigation-related applications that use a different data model to provide navigation-related functions.

Claims

1. An apparatus comprising:

a database that models roads, the database stored on a computer-readable medium, wherein the database includes data entities that represent roads, data representations of physical road lanes, wherein the data representations of physical road lanes refer to those data entities that represent roads that represent those roads of which the physical road lanes are a part, wherein each data representation of a physical road lane includes data indicating start and end points of the represented physical road lane; and

an adjacency attribute indicating what lies adjacent to the represented physical road lane on a right side and a left side thereof; and

a driving assistance device for a vehicle, the driving assistance device configured to;

receive measurements of an environment of a vehicle from one or more sensors;

access the adjacency attribute from the database; and

generate, in response to the adjacency attribute, a driving warning to a driver of the vehicle or engage a mechanical system for operation of the vehicle;

wherein the adjacency attribute indicates at least one of the following;

(i) another lane, which can be entered by a lane change,

(ii) another lane but which cannot be entered,

(iii) a lane that is in the process of forming,

(iv) a lane that is in the process of ending,

(v) a shoulder,

(vi) another drivable surface that is not a lane or shoulder but vehicle navigable, and

(vii) no drivable surface.

2. The apparatus of claim 1 wherein the data representations of physical road lanes represent lanes that are less than full width.

3. The apparatus of claim 1, wherein at least some of the data representations of physical road lanes include data indicating a sublane of the represented physical road lane wherein a sublane comprises a longitudinal subsection of a lane,

wherein the data indicating a sublane include data indicating start and end points of the represented sublane, wherein the data indicating start and end points of the represented sublane are defined relative to an end of the physical road lane of which the sublane is a part.

4. The apparatus of claim 1, wherein the driving assistance device generates the driving warning to the driver of the vehicle, the driving warning including an obstacle warning.

5. The apparatus of claim 1, wherein the driving assistance device generates the driving warning to the driver of the vehicle, the driving warning including an adaptive cruise control warning.

6. The apparatus of claim 1, wherein the driving assistance device engages the mechanical system for operation of the vehicle.

7. The apparatus of claim 6, wherein the mechanical system includes brakes of the vehicle.

8. An apparatus comprising:

a database stored on a computer readable medium, the database including data representation of a physical road lane including data indicating start and end points of the represented physical road lane, wherein at least some of the data representations of physical road lanes include data indicating a sublane of the represented physical road lane wherein a sublane comprises a longitudinal subsection of a lane, wherein the data indicating a sublane include data indicating start and end points of the represented sublane, wherein the data indicating start and end points of the represented sublane are defined relative to an end of the physical road lane of which the sublane is a part and an adjacency attribute indicating what lies adjacent to the represented physical road lane on a right side and a left side thereof;

a driving assistance device configured to receive measurements of an environment of a vehicle from one or more sensors and access a database that models roads

wherein the driving assistance device engages a mechanical system for operation of the vehicle based on the one or more sensors and based on the adjacency attribute accessed from the database.

9. The apparatus of claim 8 wherein the data representations of physical road lanes represent lanes that are less than full width.

10. The apparatus of claim 8, wherein the mechanical system includes brakes of the vehicle.

11. An apparatus comprising:

a database including data entities that represent roads, data representations of physical road lanes, wherein the data representations of physical road lanes refer to those data entities that represent roads that represent those roads of which the physical road lanes are a part, wherein each data representation of a physical road lane includes data indicating start and end points of the represented physical road lane; and

wherein the database includes an adjacency attribute indicating what lies adjacent to and extends longitudinally along the represented physical road lane on a right side and left side thereof;

a driving assistance device for a vehicle, the driving assistance device configured to receive measurements of an environment of the vehicle from one or more sensors and access a database that models roads, the database stored on a computer-readable medium;

wherein the driving assistance device issues a warning to a driver of the vehicle and controls a mechanical system of the vehicle based on the one or more sensors and the adjacency attribute of the database.

12. The apparatus of claim 11 wherein the adjacency attribute indicates another lane, which can be entered by a lane change.

13. The apparatus of claim 11 wherein the adjacency attribute indicates another lanes but which cannot be entered.

14. The apparatus of claim 11 wherein the adjacency attribute indicates a lane that is in the process of forming.

15. The apparatus of claim 11 wherein the adjacency attribute indicates a lane that is in the process of ending.

16. The apparatus of claim 11 wherein the adjacency attribute indicates a shoulder.

17. The apparatus of claim 11 wherein the adjacency attribute indicates another drivable surface that is not a lane of shoulder but that might have a vehicle on it.

18. The apparatus of claim 11 wherein the adjacency attribute indicates no drivable surface.

19. The apparatus of claim 11, wherein the warning to the driver of the vehicle includes an obstacle avoidance warning.

20. The apparatus of claim 11, wherein the warning to the driver of the vehicle includes a collision avoidance warning.