Method and Apparatus for Representing Road Intersections

Abstract

A method is disclosed for representing road intersections as data. A database includes intersection object data entities that represent physical road intersections. Each intersection object data entity includes a maneuver list that identifies each permissible transversal of the intersection from each lane by which the represented intersection can be entered to each lane from which the intersection can be exited from the associated lane by which the intersection can be entered. Each transversal in the maneuver list indicates an entry lane, an exit lane, the geometry of a vehicle path connecting the entry and exit lanes, and an indication of a level of confidence associated with the specified geometry. The database can be used by a system in a vehicle to provide a safety-related function. The database is compatible with navigation-related applications that use a different data model to provide navigation-related functions.

1 . (canceled) 
     
     
         2 . A method comprising:
 receiving position data from one or more sensors, wherein the position data describes a position of a vehicle on a road segment;   querying a road database based on the position of the vehicle on the road segment;   receiving navigation data from the road database; and   providing a driving assistance command based on the navigation data.   
     
     
         3 . The method of  claim 2 , wherein the navigation data includes an intersection having one or more paths from at least one incoming lane to at least one outgoing lane. 
     
     
         4 . The method of  claim 2 , wherein the navigation data includes an intersection associated with a predictable path for the vehicle. 
     
     
         5 . The method of  claim 4 , wherein the navigation data includes a confidence value indicative of vehicle paths through the intersection. 
     
     
         6 . The method of  claim 2 , wherein the navigation data includes an intersection type identifier. 
     
     
         7 . The method of  claim 5 , wherein the intersection type identifier indicates a roundabout intersection, a railroad crossing intersection, or a standard intersection. 
     
     
         8 . The method of  claim 2 , wherein the driving assistance command provides a safety feature for the vehicle. 
     
     
         9 . The method of  claim 2 , wherein the driving assistance command engages a mechanical system of the vehicle. 
     
     
         10 . The method of  claim 9 , wherein the mechanical system is a braking system. 
     
     
         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:   receiving position data from one or more sensors, wherein the position data describes a position of a vehicle on a road segment;   querying a road database based on the position of the vehicle on the road segment;   receiving intersection data from the road database; and   providing a driving assistance function based on the intersection data.   
     
     
         12 . The apparatus of  claim 11 , wherein the intersection data describes one or more paths from at least one incoming lane to at least one outgoing lane. 
     
     
         13 . The apparatus of  claim 12 , wherein the intersection data describes a predictable path for the vehicle. 
     
     
         14 . The apparatus of  claim 13 , wherein the intersection data includes a confidence value indicative of vehicle paths through the intersection. 
     
     
         15 . The apparatus of  claim 11 , wherein the intersection data includes an intersection type identifier indicative of a roundabout intersection, a railroad crossing intersection, or a standard intersection. 
     
     
         16 . The apparatus of  claim 11 , wherein the driving assistance function includes a warning to the driver of the vehicle. 
     
     
         17 . The apparatus of  claim 11 , wherein the driving assistance function engages a mechanical system of the vehicle. 
     
     
         18 . A non-transitory computer readable medium including instructions that when executed are operable to:
 receiving position data from one or more sensors, wherein the position data describes a position of a vehicle on a road segment;   querying a road database based on the position of the vehicle on the road segment;   receiving navigation data from the road database; and   providing a driving assistance command based on the navigation data.   
     
     
         19 . The non-transitory computer readable medium of  claim 18 , wherein the navigation data includes an intersection having one or more paths from at least one incoming lane to at least one outgoing lane. 
     
     
         20 . The non-transitory computer readable medium of  claim 18 , wherein the driving assistance command provides a safety feature for the vehicle. 
     
     
         21 . The non-transitory computer readable medium of  claim 18 , wherein the driving assistance command engages a mechanical system of the vehicle.