Method and apparatus for providing a steering reliability map based on driven curvatures and geometry curvature

Patent metadata

Field	Value
Publication number	US-2016178381-A1
Application number	US-201414581134-A
Country	US
Kind code	A1
Filing date	Dec 23, 2014
Priority date	Dec 23, 2014
Publication date	Jun 23, 2016
Grant date	—

Abstract

An approach is provided for comparing experienced curvatures with geometry-based curvatures to identify road environments. The approach involves causing, at least in part, an aggregation of a plurality of curvature samples collected from one or more vehicles traversing one or more travel segments. The approach also involves processing and/or facilitating a processing of the curvature samples to determine at least one experienced curvature for the one or more travel segments. The approach further involves determining at least one geometry-based curvature for the one or more travel segments. The approach also involves determining one or more differences between at least one experienced curvature and the at least one geometry-based curvature.

First claim

1 . A method comprising:
causing, at least in part, an aggregation of a plurality of curvature samples collected from one or more vehicles traversing one or more travel segments; processing and/or facilitating a processing of the curvature samples to determine at least one experienced curvature for the one or more travel segments; determining at least one geometry-based curvature for the one or more travel segments; and determining one or more differences between at least one experienced curvature and the at least one geometry-based curvature.

2 . A method of claim 1 , further comprising:
causing, at least in part, a mapping of the one or more differences, the at least one experienced curvature, the at least one geometry-based curvature, or a combination thereof associated with respect to the one or more travel segments.

3 . A method of claim 1 , further comprising:
determining reliability information for autonomous driving, highly-assisted driving, or a combination thereof for the one or more travel segments based, at least in part, on the one or more differences.

4 . A method of claim 1 , further comprising:
processing and/or facilitating a processing of the one or more differences to determine one or more free-form travel areas, one or more lane change areas, one or more merge areas, one or more object avoidance areas, one or more errors in the at least one geometry-based curvature, or a combination thereof.

5 . A method of claim 1 , further comprising:
causing, at least in part, an assignment of a high confidence of reliability to one or more locations of the one or more travel segments associated with the one or more differences that are below at least one difference threshold value.

6 . A method of claim 1 , further comprising:
causing, at least in part, an assignment of an unstable control flag to the one or more locations within the one or more travel segments associated with the one or more differences that are above at least one difference threshold value.

7 . A method of claim 1 , further comprising:
causing, at least in part, an assignment of a variable confidence value to the one or more locations within the one or more travel segments associated with the one or more differences that are above at least one difference threshold value, wherein the variable confidence value is based, at least in part, on a magnitude of the one or more differences.

8 . A method of claim 1 , further comprising:
causing, at least in part, an association of the one or more differences with the one or more locations within the one or more travel segments associated with the one or more differences that are above at least one difference threshold value.

9 . A method of claim 1 , wherein the one or more differences are above at least one difference threshold value, the method further comprising:
causing, at least in part, a clustering of the plurality of curvature samples into one or more curvature clusters based, at least in part, on one or more characteristics of the plurality of curvature samples, the one or more travel segments, the one or more vehicles, or a combination thereof, wherein the one or more characteristics include, at least in part, a type of curvature; and wherein the type of curvature includes, at least in part, a straight line, a slight turn, an extreme turn, or a combination thereof.

10 . A method of claim 8 , further comprising:
determining a number of the plurality of curvature samples that are clustered into each of the one or more curvature clusters.

11 . An apparatus comprising:
at least one processor; and at least one memory including computer program code for one or more programs, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following;
cause, at least in part, an aggregation of a plurality of curvature samples collected from one or more vehicles traversing one or more travel segments;
process and/or facilitate a processing of the curvature samples to determine at least one experienced curvature for the one or more travel segments;
determine at least one geometry-based curvature for the one or more travel segments; and
determine one or more differences between at least one experienced curvature and the at least one geometry-based curvature.

12 . An apparatus of claim 11 , wherein the apparatus is further caused to:
cause, at least in part, a mapping of the one or more differences, the at least one experienced curvature, the at least one geometry-based curvature, or a combination thereof associated with respect to the one or more travel segments.

13 . An apparatus of claim 11 , wherein the apparatus is further caused to:
determine reliability information for autonomous driving, highly-assisted driving, or a combination thereof for the one or more travel segments based, at least in part, on the one or more differences.

14 . An apparatus of claim 11 , wherein the apparatus is further caused to:
process and/or facilitate a processing of the one or more differences to determine one or more free-form travel areas, one or more lane change areas, one or more merge areas, one or more object avoidance areas, one or more errors in the at least one geometry-based curvature, or a combination thereof.

15 . An apparatus of claim 11 , wherein the apparatus is further caused to:
cause, at least in part, an assignment of a high confidence of reliability to one or more locations of the one or more travel segments associated with the one or more differences that are below at least one difference threshold value.

16 . An apparatus of claim 11 , further comprising:
cause, at least in part, an assignment of an unstable control flag to the one or more locations within the one or more travel segments associated with the one or more differences that are above at least one difference threshold value.

17 . An apparatus of claim 11 , further comprising:
cause, at least in part, an assignment of a variable confidence value to the one or more locations within the one or more travel segments associated with the one or more differences that are above at least one difference threshold value, wherein the variable confidence value is based, at least in part, on a magnitude of the one or more differences.

18 . A computer-readable storage medium carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to perform:
cause, at least in part, an aggregation of a plurality of curvature samples collected from one or more vehicles traversing one or more travel segments; process and/or facilitate a processing of the curvature samples to determine at least one experienced curvature for the one or more travel segments; determine at least one geometry-based curvature for the one or more travel segments; and determine one or more differences between at least one experienced curvature and the at least one geometry-based curvature.

19 . A computer-readable storage medium of claim 18 , wherein the apparatus is further caused to perform:
cause, at least in part, a mapping of the one or more differences, the at least one experienced curvature, the at least one geometry-based curvature, or a combination thereof associated with respect to the one or more travel segments.

20 . A computer-readable storage medium of claim 18 , wherein the apparatus is further caused to perform:
determine reliability information f

Assignees

• Here Global Bv

Inventors

• Lynch James D

Classifications

• G05D1/0088

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• B62D15/025

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• G01C21/30 Primary

  Map- or contour-matching · CPC title

• G01C21/3407

  specially adapted for specific applications · CPC title

• G01C21/3848 Primary

  Data obtained from both position sensors and additional sensors · CPC title