Detailed map format for autonomous driving

• US 9,921,585 B2
• Filed: 06/08/2016
• Issued: 03/20/2018
• Est. Priority Date: 04/30/2014
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Ichikawa, Kentaro, Delp, Michael J.
• Primary Examiner(s): Tran, Khoi H
• Assistant Examiner(s): Peche, Jorge O
• Application Number:
  US15/176,903
• Publication Number:
  US 20160282879A1
• Time in Patent Office: 650 Days
• CPC Class Codes: G01C 21/3658 Lane guidance
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G08G 1/095 Traffic lights

Abstract

A computer-readable detailed map format is disclosed. The map format can be used in the operation of an autonomous vehicle. The detailed map format includes a plurality of lane segments and a plurality of lane links. Each of the lane links can extend between two lane segments across a traffic intersection. Each of the lane links can also be associated with one of a plurality of traffic signals. A transition rule is associated with a first lane link and based on information associated with the one of the plurality of traffic signals associated with the first lane link. An interlock rule can be based on information associated with the one of the plurality of traffic signals associated with a second lane link. The first lane link and second lane link can be associated with different traffic signals and can extend between different lane segments across the traffic intersection.

Claims

1. A method of operating an autonomous vehicle approaching a traffic intersection, the method comprising:

determining a current location of the autonomous vehicle;

acquiring driving environment data using one or more sensors, the driving environment data including information about a traffic signal associated with a current travel lane of the autonomous vehicle;

inputting the acquired driving environment data into a computer readable map format of the traffic intersection, the map format including;

a plurality of lane segments, each lane segment associated with a branch of the traffic intersection;

a plurality of lane links, each lane link associated with two of the plurality of lane segments and extending between two of the branches of the traffic intersection;

a plurality of traffic signals, each traffic signal associated with at least one of the plurality of lane links;

a transition rule associated with a first lane link, wherein the transition rule is based on information associated with the one of the plurality of traffic signals associated with the first lane link; and

an interlock rule based on the acquired information about the traffic signal associated with the current travel lane of the autonomous vehicle, a state of one or more other traffic signals of the traffic intersection being inferred using the interlock rule, whereby the state of the one or more other traffic signals governs the actions of other vehicles across different lane links, the one or more other traffic signals being associated with a second lane link,

wherein inputting the acquired driving environment data includes inputting the information about the traffic signal associated with the current travel lane of the autonomous vehicle for association with the one of the plurality of traffic signals associated with the first lane link, and applying the interlock rule based on the information about the traffic signal associated with the current travel lane of the autonomous vehicle to infer the state of the one or more other traffic signals associated with the second lane link;

determining a driving maneuver for the autonomous vehicle relative to the traffic intersection using the map format and the determined current location of the autonomous vehicle; and

causing the autonomous vehicle to implement the determined driving maneuver.

2. The method of claim 1, wherein the first lane link and the second lane link are associated with different traffic signals.

3. The method of claim 1, wherein the first lane link and the second lane link extend between different branches of the traffic intersection.

4. The method of claim 1, wherein the information associated with each traffic signal includes a geographical location and a traffic signal type and a traffic signal state.

5. The method of claim 4, wherein the traffic signal type includes information regarding structure and orientation for at least one of a traffic light and a traffic sign.

6. The method of claim 4, wherein the traffic signal type is a traffic light and the traffic signal state includes at least one of green, green arrow, yellow, blinking yellow, and red.

7. The method of claim 4, wherein the transition rule is based on the traffic signal state of the one of the plurality of traffic signals associated with the first lane link.

8. The method of claim 4, wherein the interlock rule is based on an inferred traffic signal state for the one of the plurality of traffic signals associated with the second lane link.

9. The method of claim 1, further comprising:

a stop line associated with an end of at least one of the plurality of lane segments, wherein information associated with the stop line includes a geographical location, the geographical location representing a position where a vehicle must stop before the traffic intersection.

10. The method of claim 1, wherein the traffic signal is a traffic light, wherein the information about the traffic signal associated with the current travel lane of the autonomous vehicle includes a color of the traffic light, and wherein inputting the acquired driving environment data includes inputting the color of the traffic light with the one of the plurality of traffic signals associated with the first lane link, and wherein the interlock rule is applied based on the color of the traffic light.

11. An autonomous vehicle system comprising:

one or more sensors configured to determine a current location of an autonomous vehicle and to acquire driving environment data using one or more sensors, the driving environment data including information about a traffic signal associated with a current travel lane of the autonomous vehicle sense the external environment of the vehicle;

processing unit, the one or more sensors being communicatively coupled to the processing unit; and

a memory communicatively coupled to the processing unit, the memory including a computer-readable map format, the map format including;

a plurality of lane segments, each lane segment associated with a branch of a traffic intersection;

a plurality of lane links, each lane link associated with two of the plurality of lane segments and extending between two of the branches of the traffic intersection;

a plurality of traffic signals, each traffic signal associated with at least one of the plurality of lane links;

a transition rule associated with a first lane link, wherein the transition rule is based on information associated with the one of the plurality of traffic signals associated with the first lane link; and

an interlock rule based on information associated with the one of the plurality of traffic signals associated with a second lane link,

an interlock rule based on the acquired information about the traffic signal associated with the current travel lane of the autonomous vehicle, a state of one or more other traffic signals of the traffic intersection being inferred using the interlock rule, whereby the state of the one or more other traffic signals governs the actions of other vehicles across different lane links, the one or more other traffic signals being associated with a second lane link,

the processing unit being configured to;

input the acquired driving environment data into the computer readable map format of the traffic intersection, wherein inputting the acquired driving environment data includes inputting the information about the traffic signal associated with the current travel lane of the autonomous vehicle for association with the one of the plurality of traffic signals associated with the first lane link, and applying the interlock rule based on the information about the traffic signal associated with the current travel lane of the autonomous vehicle to infor the state of the one or more other traffic signals associated with the second lane link;

determine a driving maneuver for the autonomous vehicle relative to the traffic intersection using the map format and the determined current location of the autonomous vehicle; and

cause the autonomous vehicle to implement the determined driving maneuver.

12. The system of claim 11, wherein the first lane link and the second lane link are associated with different traffic signals.

13. The system of claim 11, wherein the first lane link and the second lane link extend between different branches of the traffic intersection.

14. The system of claim 11, wherein the information associated with each traffic signal includes a geographical location and a traffic signal type and a traffic signal state.

15. The system of claim 14, wherein the traffic signal type includes information regarding structure and orientation for at least one of a traffic light and a traffic sign.

16. The system of claim 14, wherein the traffic signal type is a traffic light and the traffic signal state includes at least one of green, green arrow, yellow, blinking yellow, and red.

17. The system of claim 14, wherein the transition rule is based on the traffic signal state of the one of the plurality of traffic signals associated with the first lane link.

18. The system of claim 14, wherein the interlock rule is based on an inferred traffic signal state for the one of the plurality of traffic signals associated with the second lane link.

19. The system of claim 11, further comprising:

a stop line associated with an end of at least one of the plurality of lane segments, wherein information associated with the stop line includes a geographical location, the geographical location representing a position where a vehicle must stop before the traffic intersection.

20. The system of claim 11, wherein the traffic signal is a traffic light, wherein the information about the traffic signal associated with the current travel lane of the autonomous vehicle includes a color of the traffic light, and wherein inputting the acquired driving environment data includes inputting the color of the traffic light with the one of the plurality of traffic signals associated with the first lane link, and wherein the interlock rule is applied based on the color of the traffic light.

21. The system of claim 11, wherein one of the lane segments has at least two associated lane links.