Method and apparatus for providing a steering reliability map based on driven curvatures and geometry curvature
First Claim
1. A method for generating geometrical map data that includes road curvature data for operating an autonomous vehicle comprising:
- collecting, by respective sensors of one or more vehicles, a plurality of curvature samples when the one or more vehicles traverses one or more travel segments;
processing the curvature samples to determine at least one experienced curvature for the one or more travel segments, the at least one experienced curvature indicating respective driving paths of the one or more vehicles through the one or more travel segments;
determining at least one geometry-based curvature for the one or more travel segments, the at least one geometry-based curvature calculated based on road geometry data associated with the one or more travel segments;
determining one or more differences between at least one experienced curvature and the at least one geometry-based curvature to associate the one or more differences to the one or more travel segments in the geometrical map data; and
initiating or recommending a manual operation of the autonomous vehicle based on the geometrical map data including the one or more differences when the autonomous vehicle traverses the one or more travel segments.
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Accused Products
Abstract
An approach is provided for comparing experienced curvatures with geometry-based curvatures to identify road environments. The approach involves causing, at least in part, an aggregation of a plurality of curvature samples collected from one or more vehicles traversing one or more travel segments. The approach also involves processing and/or facilitating a processing of the curvature samples to determine at least one experienced curvature for the one or more travel segments. The approach further involves determining at least one geometry-based curvature for the one or more travel segments. The approach also involves determining one or more differences between at least one experienced curvature and the at least one geometry-based curvature.
28 Citations
20 Claims
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1. A method for generating geometrical map data that includes road curvature data for operating an autonomous vehicle comprising:
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collecting, by respective sensors of one or more vehicles, a plurality of curvature samples when the one or more vehicles traverses one or more travel segments; processing the curvature samples to determine at least one experienced curvature for the one or more travel segments, the at least one experienced curvature indicating respective driving paths of the one or more vehicles through the one or more travel segments; determining at least one geometry-based curvature for the one or more travel segments, the at least one geometry-based curvature calculated based on road geometry data associated with the one or more travel segments; determining one or more differences between at least one experienced curvature and the at least one geometry-based curvature to associate the one or more differences to the one or more travel segments in the geometrical map data; and initiating or recommending a manual operation of the autonomous vehicle based on the geometrical map data including the one or more differences when the autonomous vehicle traverses the one or more travel segments. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An apparatus for generating geometrical map data that includes road curvature data for operating an autonomous vehicle comprising:
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at least one processor; and at least one memory including computer program code for one or more programs, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following; collect, by respective sensors of one or more vehicles, a plurality of curvature samples when the one or more vehicles traverses one or more travel segments; process the curvature samples to determine at least one experienced curvature for the one or more travel segments, the at least one experienced curvature indicating respective driving paths of the one or more vehicles through the one or more travel segments; determine at least one geometry-based curvature for the one or more travel segments, the at least one geometry-based curvature calculated based on road geometry data associated with the one or more travel segments; determine one or more differences between at least one experienced curvature and the at least one geometry-based curvature to associate the one or more differences to the one or more travel segments in the geometrical map data; and initiate or recommend a manual operation of the autonomous vehicle based on the geometrical map data including the one or more differences when the autonomous vehicle traverses the one or more travel segments. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A non-transitory computer-readable storage medium for generating geometrical map data that includes road curvature data for operating an autonomous vehicle, carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to perform:
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collect, by respective sensors of one or more vehicles, a plurality of curvature samples when the one or more vehicles traverses one or more travel segments; process the curvature samples to determine at least one experienced curvature for the one or more travel segments, the at least one experienced curvature indicating respective driving paths of the one or more vehicles through the one or more travel segments; determine at least one geometry-based curvature for the one or more travel segments, the at least one geometry-based curvature calculated based on road geometry data associated with the one or more travel segments; determine one or more differences between at least one experienced curvature and the at least one geometry-based curvature to associate the one or more differences to the one or more travel segments in the geometrical map data; and initiate or recommend a manual operation of the autonomous vehicle based on the geometrical map data including the one or more differences when the autonomous vehicle traverses the one or more travel segments. - View Dependent Claims (19, 20)
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Specification