Method and system for generating road map using data of position sensor of vehicle

• US 9,170,115 B2
• Filed: 11/15/2013
• Issued: 10/27/2015
• Est. Priority Date: 06/03/2013
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Kim, Min Suk
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US14/081,147
• Publication Number:
  US 20140358436A1
• Time in Patent Office: 711 Days
• Field of Search: 701/470, 701/532, 701/408, 701/409, 701/410
• US Class Current: 1/1
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: G01C 21/3822 Road feature data, e.g. slope data
• CPC Class Codes: G01C 21/3837 Data obtained from a single source
• CPC Class Codes: G01C 21/3844 Data obtained from position sensors only, e.g. from inertial navigation

Abstract

A method and a system for generating a map using data of a position sensor of a vehicle are provided which are used to generate a map by collecting data of a position sensor disposed within a vehicle. The method includes collecting, by a controller, data from the position sensor disposed within the vehicle to sense the position of the vehicle and analyzing the collected data of the position sensor. In addition, the method includes automatically generating, by the controller, the map using the analyzed data.

Claims

1. A method of generating a map using data of a position sensor of a vehicle, the method comprising:

collecting, by a controller, data from the position sensor disposed within the vehicle to sense the position of the vehicle;

analyzing, by the controller, the collected data of the position sensor;

automatically generating, by the controller, an Advanced Driver Assistance System (ADAS) map by processing the data of the position sensor in parallel;

dividing, by the controller, data for each area from data of the GPS sensor and segmenting the data for each road;

statistically calculating, by the controller, three-dimensional (3D) coordinates and road slope at each of a plurality of predetermined distances with reference to a road center line by map-matching the data of the position sensor divided for each road link with the road links;

dividing, by the controller, the linear curve and straight sections using a statistic method with reference to the vertical cross-section and plane of the roads;

calculating, by the controller, a radius of curvature, using the method of least squares, as each measured value by applying a road linear design method to calculate the radius of curvature of the vertical cross-section and lane curve sections; and

storing, by the controller, the property values of the map by dividing the 3D coordinates and curvature start points, end points, and the radii of curvature for the plane and the cross-section with respect to the road center line for each road link.

2. The method of claim 1, wherein the position sensor includes a global positioning system (GPS) sensor and a gyro sensor.

3. The method of claim 1, wherein the controller is connected to a telematics center (TMS center;

Telematics Multimedia System Center), and the data of the position sensor is transmitted to the telematics center via a telematics terminal within the vehicle.

4. The method of claim 3, further comprising:

automatically generating, by the controller, an Advanced Driver Assistance System (ADAS) map by processing the data of the position sensor in parallel.

5. A system for generating a map of a vehicle, the system comprising:

a position sensor disposed within the vehicle to sense the position of the vehicle;

a Telematics Mulimedia System (TMS) terminal configured to collect and transmit data of the position sensor to a telematics center; and

a controller connected to the telematics center, configured to;

collect data from the position sensor disposed within the vehicle;

analyze the collected data of the position sensor; and

automatically generate the map based on the analyzed data,

wherein the controller is further configured to;

divide data for each area from data of the GPS sensor and segment the data for each road;

statistically calculate three-dimensional (3D) coordinates and road slope at each of predetermined distances with reference to a road center line by map-matching the data of the position sensor divided for each road link with the road links;

divide the linear curve and straight sections using a statistic method with reference to the vertical cross-section and plane of the roads;

calculate a radius of curvature, using the method of least squares, as each measured value by applying a road linear design method to calculate the radius of curvature of the vertical cross-section and lane curve sections; and

store the property values of the map by dividing the 3D coordinates and curvature start points, end points, and the radii of curvature for the plane and the cross-section with respect to the road center line for each road link.

6. The system of claim 5, wherein the position sensor includes a GPS sensor and a gyro sensor.

7. The system of claim 5, wherein the

the data of the position sensor is transmitted to the telematics center via a telematics terminal within the vehicle.

8. The system of claim 7, wherein the controller is configured to automatically generate an ADAS (Advanced Driver Assistance System) map by processing the data of the position sensor in parallel.

9. A non-transitory computer readable medium containing program instructions executed by a controller, the computer readable medium comprising:

program instructions that collect data from the position sensor disposed within the vehicle to sense the position of the vehicle;

program instructions that analyze the collected data of the position sensor;

program instructions that automatically generate the map, using the analyzed data;

program instructions that divide data for each area from data of the GPS sensor and segmenting the data for each road;

program instructions that statistically calculate three-dimensional (3D) coordinates and road slope at each of a plurality of predetermined distances with reference to a road center line by map-matching the data of the position sensor divided for each road link with the road links;

program instructions that divide the linear curve and straight sections using a statistic method with reference to the vertical cross-section and plane of the roads;

program instructions that calculate a radius of curvature, using the method of least squares, as each measured value by applying a road linear design method to calculate the radius of curvature of the vertical cross-section and lane curve sections; and

program instructions that store the property values of the map by dividing the 3D coordinates and curvature start points, end points, and the radii of curvature for the plane and the cross-section with respect to the road center line for each road link.

10. The non-transitory computer readable medium of claim 9, wherein the position sensor includes a global positioning system (GPS) sensor and a gyro sensor.

11. The non-transitory computer readable medium of claim 10, further comprising:

program instructions that automatically generate an Advanced Driver Assistance System (ADAS) map by processing the data of the position sensor in parallel.