US 12,214,785 B2
Vehicle localization to map data
Steven G. Malson, Metamora, MI (US); and James Nicholas Nickolaou, Clarkston, MI (US)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Apr. 25, 2022, as Appl. No. 17/660,472.
Claims priority of provisional application 63/277,260, filed on Nov. 9, 2021.
Claims priority of provisional application 63/243,442, filed on Sep. 13, 2021.
Prior Publication US 2023/0082106 A1, Mar. 16, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 30/14 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/12 (2013.01) [B60W 30/143 (2013.01); B60W 60/005 (2020.02); B60W 2552/30 (2020.02); B60W 2552/53 (2020.02); B60W 2555/60 (2020.02); B60W 2556/40 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A method comprising:
providing, as an input to an assisted-driving system or an automated-driving system at least partially in control of a vehicle traveling on a road, an initial lane segment;
determining, using location data for the vehicle, a position of the vehicle;
maintaining, based on the position of the vehicle and map data, a current lane segment for the vehicle, the current lane segment being the initial lane segment;
determining, using the position of the vehicle and the map data, a relative position of the vehicle within the current lane segment;
determining, based on the relative position of the vehicle within the current lane segment, whether or not to transition the current lane segment to be another lane segment;
responsive to determining to transition the current lane segment to be the other lane segment, setting the current lane segment to be the other lane segment;
providing the current lane segment as the input to the assisted-driving system or the automated-driving system of the vehicle;
generating, based on the map data, a road model for the road, the road model including a series of lane segment groups, lane segments, and lane lines for the road, the lane segments representing a portion of a lane of the road, the lane segment groups representing one or more lane segments for lanes of the road with traffic traveling in the same direction, and the lane lines representing lateral centers of respective lane segments; and
providing the road model as an additional input to the assisted-driving system or the automated-driving system of the vehicle to further enable assisted or automated driving of the vehicle within different parts of the road.
 
13. A processor in a vehicle configured to:
provide, as an input to an assisted-driving system or an automated-driving system at least partially in control of a vehicle traveling on a road, an initial lane segment;
determine, using location data for the vehicle, a position of the vehicle;
maintain, based on the position of the vehicle and map data, a current lane segment for the vehicle, the current lane segment being the initial lane segment;
determine, using the position of the vehicle and the map data, a relative position of the vehicle within the current lane segment;
determine, based on the relative position of the vehicle within the current lane segment, whether or not to transition the current lane segment to be another lane segment;
responsive to a determination to transition the current lane segment to be the other lane segment, set the current lane segment to be the other lane segment;
provide the current lane segment as the input to the assisted-driving system or the automated-driving system of the vehicle;
generate, based on the map data, a road model for the road, the road model including a series of lane segment groups, lane segments, and lane lines for the road, the lane segments representing a portion of a lane of the road, the lane segment groups representing one or more lane segments for lanes of the road with traffic traveling in the same direction, and the lane lines representing lateral centers of respective lane segments; and
provide the road model as an additional input to the assisted-driving system or the automated-driving system of the vehicle to further enable assisted or automated driving of the vehicle within different parts of the road.
 
18. A computer-readable storage media comprising computer-executable instructions that, when executed, cause a processor in a vehicle to:
provide, as an input to an assisted-driving system or an automated-driving system at least partially in control of a vehicle traveling on a road, an initial lane segment;
determine, using location data for the vehicle, a position of the vehicle;
maintain, based on the position of the vehicle and map data, a current lane segment for the vehicle, the current lane segment being the initial lane segment;
determine, using the position of the vehicle and the map data, a relative position of the vehicle within the current lane segment, including a longitudinal offset from a beginning of the current lane segment;
determine, based on the relative position of the vehicle within the current lane segment, whether or not to transition the current lane segment to be another lane segment, wherein determining whether or not to transition the current lane segment to be another lane segment further includes determining, based on the longitudinal offset from the beginning of the current lane segment, whether to transition the current lane segment to be a next lane segment, wherein determining whether to transition the current lane segment to be the next lane segment further includes comparing the longitudinal offset from the beginning of the current lane segment to a position of a last centerline point for the current lane segment;
responsive to a determination to transition the current lane segment to be the other lane segment, set the current lane segment to be the other lane segment; and
provide the current lane segment as the input to the assisted-driving system or the automated-driving system of the vehicle.