Patent ID: 9435654
Filing Date: 2016-09-06
CPC Classification: B60W,G01C,G06F,G08G

Claim Text:
1. A method for creating, storing, and updating local dynamic map database with safety attribute, for a street or highway, said method comprising: a central computer obtaining basic safety messages in an intended region of map, wherein the basic safety messages include vehicle data; filtering out a first basic safety message data out of said basic safety messages which falls outside of said intended region of map; adaptively defining said intended region of map, using speed profiles data in each road segment of interest; receiving path history or trajectory from an at least one vehicle; checking accuracy of said path history or trajectory; when said accuracy of said path history or trajectory is better than a first accuracy threshold distance, storing said path history or trajectory, instead of actual locations reported by said at least one vehicle; when said accuracy of said path history or trajectory is worse than said first accuracy threshold distance, storing said actual locations reported by said at least one vehicle; storing a location, heading, speed, and timestamp of each of said basic safety messages received; and when corresponding number of vehicles for stored data is above a first number of vehicle threshold, then starting generation of a temporary map; said central computer further: generating lanes, wherein generating lanes includes: detecting lane changes in captured data, wherein detecting lane changes includes using statistical median operation to filter outliers in positions and paths for lane change detection; determining an intersection region and splitting lanes wherein determining an intersection region and splitting lanes includes: determining lane type as ingress or egress, wherein determining lane type includes determining a difference in angle between vehicle heading and lane heading; combining incoming and outgoing lanes which fall on one side of said polygon and have either same or exactly opposite heading angle, with difference of approximately 180 degrees; determining connected lanes; determining movement states for each of said ingress lanes based on connected egress lane's maneuver code, wherein connection maneuvers comprise: left-turn, straight, or right-turn; updating said map data; generating lanes for said street or highway.