Method and system for providing an electronic horizon in an advanced driver assistance system architecture

• US 6,735,515 B2
• Filed: 06/10/2002
• Issued: 05/11/2004
• Est. Priority Date: 12/20/1999
• Status: Expired due to Term

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: Navigation Technologies Corp. (Nokia Corporation)
• Inventors: Schmitt, Matthias, Hecht, Andreas, Dunn, Larry, Bechtolsheim, Stephan, Roser, Michele, Feigen, Jerry
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US10/166,980
• Publication Number:
  US 20020161513A1
• Time in Patent Office: 701 Days
• Field of Search: 701/208, 701/200, 731/78.R, 340/988, 340/990
• US Class Current: 701/208
• CPC Class Codes: G01C 21/3667 Display of a road map G01C21/3614 takes precedence; guidance using 3D or perspective road maps G01C21/3635

Abstract

A method and system for use by driver assistance systems installed in a motor vehicle to continuously provide such systems with updated data about paths along roads onto which the motor vehicle can travel from a current position of the motor vehicle as the motor vehicle travels along said roads. The method includes accessing a database that contains data that represents segments of roads and intersections of a road network located in a geographic region in which the motor vehicle is traveling and determining one or more paths along roads onto which the motor vehicle can travel from a current position of the motor vehicle. Each path is extended out to a threshold. Data representing each of the paths is provided in an organized data structure for use by the driver assistance systems.

Claims

1. A data architecture for a motor vehicle for providing continuously updated data about paths along roads onto which the motor vehicle can travel from a current position of the motor vehicle as the motor vehicle travels along said roads, the data architecture comprising:

a map database containing data about roads in a geographic region;

a vehicle positioning program that uses data from sensors to provide an output indicating a current location along a road segment represented by data in said map database;

a data horizon program that uses the output of the vehicle positioning program and data from the map database to determine a plurality of possible paths for the motor vehicle to travel extending from said current location to an extent; and

a data repository for storing an electronic horizon data object comprising data representing the possible paths determined by the data horizon program.

4. The invention of claim 1 further comprising:

a data distributor responsive to the storing of data representing the paths in said data repository, wherein said data distributor sends messages indicating availability of new data each time new data is stored in said data repository.

5. The invention of claim 4 further comprising:

a listener program, wherein said listener program receives said messages from said data distributor.

6. The invention of claim 5 wherein said listener program is associated with a driver assistance application that uses the data stored in said data repository representing the paths.

7. The invention of claim 5 wherein said listener program provides an output to an in-vehicle bus to which is connected a driver assistance application that uses the data stored in said data repository.

8. The invention of claim 7 wherein said in-vehicle bus comprises a CAN bus.

9. The invention of claim 5 wherein said listener program includes a queue containing said messages received most recently thereby.

10. The invention of claim 4 wherein said data distributor sends messages each time a new vehicle position is determined.

11. The invention of claim 4 further comprising:

a listener program that registers with the data distributor to receive said messages therefrom.

12. The invention of claim 11 wherein said listener program receives messages about only one type of data.

13. The invention of claim 11 wherein said listener program receives messages about more than one type of data.

14. The invention of claim 1 further comprising:

a distributor responsive to the storing of data representing the paths in said data repository, wherein said data distributor sends said data each time new data is stored in said data repository.

15. The invention of claim 1 further comprising:

a data distributor responsive to the storing of data representing the paths in said data repository, wherein said data distributor sends said data via at least one of point-to-point transmission, multicast transmission, and broadcast transmission.

16. The invention of claim 1 wherein said data repository also stores data representing previous locations of the motor vehicle.

17. The invention of claim 16 further comprising:

a data distributor responsive to the storing of data representing the paths in said data repository and data representing a new vehicle location, wherein said data distributor sends messages indicating availability of new data each time new data is stored in said data repository.

18. The invention of claim 1 wherein said data repository also stores sensor data.

19. The invention of claim 18 further comprising:

a distributor responsive to the storing of data representing the paths and said sensor data in said data repository, wherein said data distributor sends messages indicating availability of new data each time new data is stored in said data repository.

20. The invention of claim 1 wherein said map database is located in said motor vehicle.

21. The invention of claim 1 wherein said data repository also stores data representing a primary path.

22. The invention of claim 21 wherein said primary path is a route-based path.

23. The invention of claim 21 wherein said primary path is a local-road-network-based most likely path.

24. The invention of claim 1 further comprising:

a path evaluator program indicating a most likely path based only on the local road network.

25. The invention of claim 1 wherein said data about roads comprises data about road objects including road signs and crosswalks.

26. The invention of claim 1 further comprising:

a routine in said data horizon program that calculates road curvature using coordinates of points along roads.

2. A data architecture for a motor vehicle for providing continuously updated data about paths along roads onto which the motor vehicle can travel from a current position of the motor vehicle as the motor vehicle travels along said roads, the data architecture comprising:

a map database containing data about roads in a geographic region;

a vehicle positioning program that uses data from sensors to provide an output indicating a current location along a road segment represented by data in said map database;

a data horizon program that uses the output of the vehicle positioning program and data from the map database to determine one or more paths that the motor vehicle can travel extending from said current location to an extent; and

a data repository for storing data representing the possible paths determined by the data horizon program, wherein said data stored in said data repository comprises;

an electronic horizon data object containing data attributes representing road segments that form the paths; and

a plurality of electronic horizon objects, wherein each electronic horizon object includes;

a reference to said electronic horizon data object, and

data indicating a distance by which a vehicle position associated with the represented electronic horizon object is displaced from the vehicle position associated with the referenced electronic horizon data object.

3. The invention of claim 2 wherein said data attributes representing road segments contained in said electronic horizon data object include data indicating road geometry, data indicating road attributes, and data representing road objects.

27. A method of providing data representing paths that a vehicle can take along roads from a current position of the vehicle at a position along a road, the method comprising:

determining a vehicle position;

determining all the available paths along road segments for the vehicle to travel from said current position out to an extent associated with a threshold, said available paths include paths leading to a destination of the motor vehicle and paths not leading to the destination;

storing data representing said available paths; and

making said stored data accessible to applications that use the data to provide assistance to a driver of said vehicle while driving.

29. The method of claim 27 further comprising:

after the step of storing data representing said paths, providing a notification to said applications that use the data that new data is available.

30. The method of claim 29 further comprising:

after the step of providing a notification, sending the data representing said paths to an application that responds to said notification.

31. The method of claim 27 further comprising:

making stored data associated with several most recently determined vehicle positions available to said applications that use the data.

32. The method of claim 27 wherein said stored data is accessible to applications that use the data over a CAN bus.

28. A method of providing data representing paths that a vehicle can take along roads from a current position of the vehicle at a position along a road, the method comprising:

determining a vehicle position;

determining all the paths along road segments that the vehicle can travel from said current position out to an extent associated with a threshold;

storing data representing said paths; and

making said stored data accessible to applications that use the data to provide assistance to a driver of said vehicle while driving, wherein said storing step comprises;

storing a first object that includes data attributes representing said paths; and

storing a second object that includes a distance by which a vehicle position associated with said second object differs from a vehicle position associated with said first object.

33. A data architecture for a motor vehicle for providing continuously updated data about paths along roads onto which the motor vehicle can travel from a current position of the motor vehicle as the motor vehicle travels along said roads, the data architecture comprising:

a data horizon program that temporarily stores in a data repository data representing road segments located around the motor vehicle; and

a data listener associated with an application that provides driver assistance features, wherein said data listener receives notifications from said data horizon program about newly stored data and obtains said data from said data horizon program, as needed.

34. A data architecture for a motor vehicle for providing continuously updated data about paths along roads onto which the motor vehicle can travel from a current position of the motor vehicle as the motor vehicle travels along said roads, the data architecture comprising:

a map database containing data about roads in a geographic region;

a vehicle positioning program that uses data from sensors to provide an output indicating a current location along a road segment represented by data in said map database;

a data horizon program that uses the output of the vehicle positioning program and data from the map database to determine a plurality of possible paths for the motor vehicle to travel extending from said current location to an extent, said plurality of possible paths include paths leading to a destination of the motor vehicle and paths not leading to the destination; and

a data repository for storing data representing the possible paths determined by the data horizon program.