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

Patent metadata

Field	Value
Publication number	US-9562779-B2
Application number	US-201414581134-A
Country	US
Kind code	B2
Filing date	Dec 23, 2014
Priority date	Dec 23, 2014
Publication date	Feb 7, 2017
Grant date	Feb 7, 2017

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

What is claimed is:

1. A method for generating geometrical map data that includes road curvature data for operating an autonomous vehicle comprising:
collecting, by respective sensors of one or more vehicles, a plurality of curvature samples when the one or more vehicles traverses one or more travel segments;
processing the curvature samples to determine at least one experienced curvature for the one or more travel segments, the at least one experienced curvature indicating respective driving paths of the one or more vehicles through the one or more travel segments;
determining at least one geometry-based curvature for the one or more travel segments, the at least one geometry-based curvature calculated based on road geometry data associated with the one or more travel segments;
determining one or more differences between at least one experienced curvature and the at least one geometry-based curvature to associate the one or more differences to the one or more travel segments in the geometrical map data; and
initiating or recommending a manual operation of the autonomous vehicle based on the geometrical map data including the one or more differences when the autonomous vehicle traverses the one or more travel segments.

2. The method of claim 1 , further comprising:
mapping 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. The 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. The method of claim 1 , further comprising:
processing 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. The method of claim 1 , further comprising:
assigning 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. The method of claim 1 , further comprising:
assigning 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. The method of claim 1 , further comprising:
assigning 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. The method of claim 1 , further comprising:
associating the one or more differences with the one or more locations within the one or more travel segments associated when the one or more differences are above at least one difference threshold value.

9. The method of claim 1 , wherein the one or more differences are above at least one difference threshold value, the method further comprising:
clustering 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. The 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 for generating geometrical map data that includes road curvature data for operating an autonomous vehicle 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;
collect, by respective sensors of one or more vehicles, a plurality of curvature samples when the one or more vehicles traverses one or more travel segments;
process the curvature samples to determine at least one experienced curvature for the one or more travel segments, the at least one experienced curvature indicating respective driving paths of the one or more vehicles through the one or more travel segments;
determine at least one geometry-based curvature for the one or more travel segments, the at least one geometry-based curvature calculated based on road geometry data associated with the one or more travel segments;
determine one or more differences between at least one experienced curvature and the at least one geometry-based curvature to associate the one or more differences to the one or more travel segments in the geometrical map data; and
initiate or recommend a manual operation of the autonomous vehicle based on the geometrical map data including the one or more differences when the autonomous vehicle traverses the one or more travel segments.

12. The apparatus of claim 11 , wherein the apparatus is further caused to:
map 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. The 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. The apparatus of claim 11 , wherein the apparatus is further caused to:
process 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. The apparatus of claim 11 , wherein the apparatus is further caused to:
assign 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. The apparatus of claim 11 , further comprising:
assign 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. The apparatus of claim 11 , further comprising:
assign 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 non-transitory computer-readable storage medium for generating geometrical map data that includes road curvature data for operating an autonomous vehicle, carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to perform:

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

• G05D1/0274 Primary

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · 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

• G01C21/32

  Structuring or formatting of map data · CPC title

• G01C21/3407

  specially adapted for specific applications · CPC title