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

• US 9,566,982 B2
• Filed: 02/15/2016
• Issued: 02/14/2017
• Est. Priority Date: 06/16/2009
• Status: Active Grant

• Current Assignee: Tomtom North America Incorporated (TomTom NV)
• Original Assignee: Tomtom North America Incorporated (TomTom NV)
• Inventors: Wilson, Christopher Kenneth Hoover
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US15/043,630
• Publication Number:
  US 20160159346A1
• Time in Patent Office: 365 Days
• Field of Search: 701/36
• US Class Current: 1/1
• 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 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2710/182 Brake pressure, e.g. of fluid or between pad and disc
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/3492 employing speed data or traffic data, e.g. real-time or historical traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968
• CPC Class Codes: Y02T 10/84 Data processing systems or methods, management, administration

Abstract

A method and system of generating a horizon for use by an ADAS of a vehicle involving recording the historic movements of the vehicle on a road network, and using the recorded data to determine at least a most probable path that the vehicle will take at decision point of the road network.

Claims

1. A computer implemented method of generating and using an electronic horizon for use with an advanced driver assistance system (ADAS) of a vehicle, comprising:

obtaining, by a processor, positional data relating to the movements of a device associated with a vehicle with respect to time on a road network;

using, by the processor, the positional data to record data indicative of the paths taken by the vehicle through a plurality of decision points of the road network in a memory;

using, by the processor, the recorded data for a decision point to generate the electronic horizon, wherein the electronic horizon defines at least a most probable outgoing path from the decision point to be taken by the vehicle when confronted with the decision point; and

providing, by the processor, data to the ADAS of the vehicle determined using the electronic horizon to provide assistance to a driver of the vehicle.

2. The method of claim 1, wherein the step of using the recorded data for a decision point to generate the electronic horizon comprises determining data indicative of a relative probability that each of a plurality of possible outgoing paths associated with the decision point will be taken by the vehicle using the recorded data for the decision point.

3. The method of claim 2, wherein the method comprises associating a relatively higher probability of the path being taken with a possible outgoing path that is associated with a relatively higher probability of having been selected based on the recorded data for the decision point.

4. The method of claim 2, further comprising storing the determined data indicative of the relative probability that each possible outgoing path will be taken, in association with at least one of:

data indicative of the path to which the probability data relates; and

the decision point to which it relates.

5. The method of claim 1, wherein the electronic horizon defines the most probably outgoing path and at least one alternative outgoing path to be taken by the vehicle when confronted with the decision point.

6. The method of claim 1, wherein the step of generating the electronic horizon is carried out by a horizon generating subsystem of the ADAS associated with the vehicle, the method further comprising the horizon generating subsystem providing the data determined using the generated electronic horizon over a vehicle bus to one or more ADAS applications of the vehicle for use by one or more ADAS applications in controlling one or more vehicle subsystems of the vehicle.

7. The method of claim 6, wherein the one or more ADAS applications use the data provided over the vehicle bus to carry out one or more of:

issuing a speed warning, providing a speed recommendation, and automatically controlling the braking function of the vehicle.

8. A non-transitory computer-readable medium comprising computer readable instructions executable to perform a method of generating and using an electronic horizon for use with an advanced driver assistance system (ADAS) of a vehicle, the method executed by the set of instructions comprising:

obtaining, by a processor, positional data relating to the movements of a device associated with a vehicle with respect to time on a road network;

using, by the processor, the positional data to record data indicative of the paths taken by the vehicle through a plurality of decision points of the road network in a memory;

using, by the processor, the recorded data for a decision point to generate the electronic horizon, wherein the electronic horizon defines at least a most probable outgoing path from the decision point to be taken by the vehicle when confronted with the decision point; and

providing, by the processor, data to the ADAS of the vehicle determined using the electronic horizon to provide assistance to a driver of the vehicle.

9. The computer-readable medium of claim 8, wherein the step of using the recorded data for a decision point to generate the electronic horizon comprises determining data indicative of a relative probability that each of a plurality of possible outgoing paths associated with the decision point will be taken by the vehicle using the recorded data for the decision point.

10. The computer-readable medium of claim 9, wherein the method comprises associating a relatively higher probability of the path being taken with a possible outgoing path that is associated with a relatively higher probability of having been selected based on the recorded data for the decision point.

11. The computer-readable medium of claim 9, further comprising storing the determined data indicative of the relative probability that each possible outgoing path will be taken, in association with at least one of:

data indicative of the path to which the probability data relates; and

the decision point to which it relates.

12. The computer-readable medium of claim 8, wherein the electronic horizon defines the most probably outgoing path and at least one alternative outgoing path to be taken by the vehicle when confronted with the decision point.

13. The computer-readable medium of claim 8, wherein the step of generating the electronic horizon is carried out by a horizon generating subsystem of the ADAS associated with the vehicle, the method further comprising the horizon generating subsystem providing the data determined using the generated electronic horizon over a vehicle bus to one or more ADAS applications of the vehicle for use by one or more ADAS applications in controlling one or more vehicle subsystems of the vehicle.

14. The computer-readable medium of claim 13, wherein the one or more ADAS applications use the data provided over the vehicle bus to carry out one or more of:

issuing a speed warning, providing a speed recommendation, and automatically controlling the braking function of the vehicle.

15. An apparatus for generating and using an electronic horizon for use with an advanced driver assistance system (ADAS) of a vehicle, comprising at least one processor and a memory, wherein the at least one processor is arranged to:

obtain positional data relating to the movements of a device associated with a vehicle with respect to time on a road network;

use the positional data to record data indicative of the paths taken by the vehicle through a plurality of decision points of the road network in a memory;

use the recorded data for a decision point to generate the electronic horizon, wherein the electronic horizon defines at least a most probable outgoing path from the decision point to be taken by the vehicle when confronted with the decision point; and

provide data to the ADAS of the vehicle determined using the electronic horizon to provide assistance to a driver of the vehicle.

16. The apparatus of claim 15, wherein the use of the recorded data for a decision point to generate the electronic horizon comprises determining data indicative of a relative probability that each of a plurality of possible outgoing paths associated with the decision point will be taken by the vehicle using the recorded data for the decision point.

17. The apparatus of claim 16, wherein the at least one processor is further arranged to associate a relatively higher probability of the path being taken with a possible outgoing path that is associated with a relatively higher probability of having been selected based on the recorded data for the decision point.

18. The apparatus of claim 16, wherein the at least one processor is further arranged to store the determined data indicative of the relative probability that each possible outgoing path will be taken, in association with at least one of:

data indicative of the path to which the probability data relates; and

the decision point to which it relates.

19. The apparatus of claim 15, wherein the electronic horizon defines the most probably outgoing path and at least one alternative outgoing path to be taken by the vehicle when confronted with the decision point.

20. The apparatus of claim 15, wherein the apparatus is configured to provide the data determined using the generated electronic 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 of the vehicle.