Method and apparatus for converting from an analytical curve road geometry to a clothoid road geometry

• US 9,858,487 B2
• Filed: 02/19/2015
• Issued: 01/02/2018
• Est. Priority Date: 02/19/2015
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Dorum, Ole Henry
• Primary Examiner(s): Harandi, Siamak
• Application Number:
  US14/625,754
• Publication Number:
  US 20160247029A1
• Time in Patent Office: 1,048 Days
• CPC Class Codes: B60W 50/00 Details of control systems for road vehicle drive control not related to the control of a particular sub-unit , e.g. process diagnostic or vehicle driver interfaces
• CPC Class Codes: G01C 21/3811 Point data, e.g. Point of Interest [POI]
• CPC Class Codes: G01C 21/3819 Road shape data, e.g. outline of a route
• CPC Class Codes: G06F 16/29 Geographical information databases
• CPC Class Codes: G06T 11/203 Drawing of straight lines or curves
• CPC Class Codes: G06T 3/00 Geometric image transformations in the plane of the image
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A method, apparatus and computer program product are provided in order to convert a representation of a road geometry in the form of an analytical curve to a clothoid road geometry. In the context of a method, a plurality of break-point locations are determined along an analytical curve that represents a portion of the road network. The method determines the plurality of break-points locations by determining the plurality of break-point locations depending upon a curvature profile of the analytical curve so as to define one more sections of the analytical curve based upon the break-point locations. The method also converts one of more sections of the analytical curve to respective clothoids.

Claims

1. A method comprising:

determining a plurality of break-point locations along an analytical curve that represents a portion of a road network, wherein determining the plurality of break-point locations comprises determining a curvature profile defining a curvature of the analytical curve at a respective arc length by approximating the curvature profile of a curve with a plurality of polylines, identifying one or more zero-crossings in the curvature profile so as to define curves therebetween and determining the plurality of break-point locations dependent upon vertices and the zero crossings of the plurality of polylines that approximate the curvature profile of the analytical curve so as to define one or more sections of the analytical curve based upon the break-point locations;

converting one or more sections of the analytical curve to respective clothoids; and

using the respective clothoids by a map display or to support an advanced driver assistance system (ADAS).

2. A method according to claim 1 wherein converting one or more sections of the analytical curve to respective clothoids comprises:

for a section of the analytical curve having a start break-point and an end break-point, determining coordinates of the analytical curve at the start break-point and the end break-point;

determining tangent headings of the analytical curve at the start break-point and the end break-point; and

determining the respective clothoid based upon the coordinates and the tangent headings of the analytical curve at the start break-point and the end break-point.

3. A method according to claim 1 wherein converting one or more sections of the analytical curve to respective clothoids comprises:

for a section of the analytical curve having a start break-point and an end break-point, determining coordinates of the analytical curve at the start break-point and the end break-point;

determining curvatures of the analytical curve at the start break-point and the end break-point; and

determining the respective clothoid based upon the coordinates and the curvatures of the analytical curve at the start break-point and the end break-point.

4. A method according to claim 1 further comprising:

determining whether a subtended angular arc of a curve of the curvature profile is within a predefined threshold of a chord of the curve; and

identifying the curve to be straight in an instance in which the subtended angular arc of the curve is within the predefined threshold of the chord of the curve.

5. A method according to claim 1 further comprising:

identifying one or more kinks in a curve; and

splitting the curve into two or more curve sections at the kink.

6. A method according to claim 1 further comprising:

identifying a curve to be multi-modal; and

splitting the multi-modal curve into two or more curve sections.

7. An apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and computer program code configured to, with the processor, cause the apparatus to at least:

determine a plurality of break-point locations along an analytical curve that represents a portion of a road network, wherein determining the plurality of break-point locations comprises determining a curvature profile defining a curvature of the analytical curve at a respective arc length by approximating the curvature profile of a curve with a plurality of polylines, identifying one or more zero-crossings in the curvature profile so as to define curves therebetween and determining the plurality of break-point locations dependent upon vertices and the zero crossings of the plurality of polylines that approximate the curvature profile of the analytical curve so as to define one or more sections of the analytical curve based upon the break-point locations;

convert one or more sections of the analytical curve to respective clothoids; and

provide the respective clothoids for use by a map display or to support an advanced driver assistance system (ADAS).

8. An apparatus according to claim 7 wherein the at least one memory and the computer program code are configured to, with the processor, cause the apparatus to convert one or more sections of the analytical curve to respective clothoids by:

for a section of the analytical curve having a start break-point and an end break-point, determining coordinates of the analytical curve at the start break-point and the end break-point;

determining tangent headings of the analytical curve at the start break-point and the end break-point; and

determining the respective clothoid based upon the coordinates and the tangent headings of the analytical curve at the start break-point and the end break-point.

9. An apparatus according to claim 7 wherein the at least one memory and the computer program code are configured to, with the processor, cause the apparatus to convert one or more sections of the analytical curve to respective clothoids by:

for a section of the analytical curve having a start break-point and an end break-point, determining coordinates of the analytical curve at the start break-point and the end break-point;

determining curvatures of the analytical curve at the start break-point and the end break-point; and

determining the respective clothoid based upon the coordinates and the curvatures of the analytical curve at the start break-point and the end break-point.

10. An apparatus according to claim 7 wherein the at least one memory and the computer program code are further configured to, with the processor, cause the apparatus to:

determine whether a subtended angular arc of a curve of the curvature profile is within a predefined threshold of a chord of the curve; and

identify the curve to be straight in an instance in which the subtended angular arc of the curve is within the predefined threshold of the chord of the curve.

11. An apparatus according to claim 7 wherein the at least one memory and the computer program code are further configured to, with the processor, cause the apparatus to:

identify one or more kinks in a curve; and

split the curve into two or more curve sections at the kink.

12. An apparatus according to claim 7 wherein the at least one memory and the computer program code are further configured to, with the processor, cause the apparatus to:

identify a curve to be multi-modal; and

split the multi-modal curve into two or more curve sections.

16. An apparatus according to claim 7 embodied by a map and positioning engine (MPE) or the ADAS.

13. A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code portions stored therein, the computer-executable program code portions comprising program code instructions configured to:

determine a plurality of break-point locations along an analytical curve that represents a portion of a road network, wherein determining the plurality of break-point locations comprises determining a curvature profile defining a curvature of the analytical curve at a respective arc length by approximating the curvature profile of a curve with a plurality of polylines, identifying one or more zero-crossings in the curvature profile so as to define curves therebetween and determining the plurality of break-point locations dependent upon vertices and the zero crossings of the plurality of polylines that approximate the curvature profile of the analytical curve so as to define one or more sections of the analytical curve based upon the break-point locations;

convert one or more sections of the analytical curve to respective clothoids; and

provide the respective clothoids for use by a map display or to support an advanced driver assistance system (ADAS).

14. A computer program product according to claim 13 wherein the program code instructions configured to convert one or more sections of the analytical curve to respective clothoids comprise program code instructions configured to:

for a section of the analytical curve having a start break-point and an end break-point, determine coordinates of the analytical curve at the start break-point and the end break-point;

determine tangent headings of the analytical curve at the start break-point and the end break-point; and

determine the respective clothoid based upon the coordinates and the tangent headings of the analytical curve at the start break-point and the end break-point.

15. A computer program product according to claim 13 wherein the program code instructions configured to convert one or more sections of the analytical curve to respective clothoids comprise:

for a section of the analytical curve having a start break-point and an end break-point, determine coordinates of the analytical curve at the start break-point and the end break-point;

determine curvatures of the analytical curve at the start break-point and the end break-point; and

determine the respective clothoid based upon the coordinates and the curvatures of the analytical curve at the start break-point and the end break-point.

17. A computer program product according to claim 13 embodied by a map and positioning engine (MPE) or the ADAS.

18. A computer program product according to claim 13 wherein the computer-executable program code portions further comprise program code instructions configured to:

determine whether a subtended angular arc of a curve of the curvature profile is within a predefined threshold of a chord of the curve; and

identify the curve to be straight in an instance in which the subtended angular arc of the curve is within the predefined threshold of the chord of the curve.

19. A computer program product according to claim 13 wherein the computer-executable program code portions further comprise program code instructions configured to:

identify one or more kinks in a curve; and

split the curve into two or more curve sections at the kink.

20. A computer program product according to claim 13 wherein the computer-executable program code portions further comprise program code instructions configured to:

identify a curve to be multi-modal; and

split the multi-modal curve into two or more curve sections.