DETAILED MAP FORMAT FOR AUTONOMOUS DRIVING

摘要

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.

主权项

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; andan interlock rule based on information associated with the one of the plurality of traffic signals associated with a second lane link, wherein inputting the acquired driving environment data includes inputting the detected information about the traffic signal with the one of the plurality of traffic signals associated with the first lane link, and applying the interlock rule based on the detected information about the traffic signal associated with the one of the plurality of 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.