Lane-centric road network model for navigation

Abstract

A geographic database storing map data is provided. The geographic database is stored in a non-transitory computer readable medium. The geographic database comprises a plurality of records corresponding to drivable surfaces of a road network. The plurality of records comprise a plurality of lane records corresponding to particular lanes of the road network. Each first record of the plurality of records comprises a plurality of instances of adjacency information. Each instance of adjacency information/data (a) links the first record corresponding to a first drivable surface of the road network to a second record of the plurality of records corresponding to a second drivable surface of the road network. The first drivable surface is adjacent to the second drivable surface. Each instance of adjacency information/data indicates crossing parameters between the first drivable surface and the second drivable surface.

That which is claimed: 
     
         1 . An apparatus comprising:
 at least one memory, the at least one memory storing a geographic database storing map data, the geographic database comprising:
 a plurality of data records corresponding to drivable surfaces of a road network, the plurality of data records comprising:
 a plurality of lane records, wherein each lane record corresponds to a drivable surface of a particular lane of the road network, and 
 a plurality of open drivable surface records, wherein each open drivable surface record corresponds to a drivable surface of a particular open drivable surface of the road network, wherein the particular open drivable surface is a portion of a surface of the road network where a lane-level topology of the road network changes; and 
 
   at least one processor, the processor configured to:
 access one or more data records of the plurality of data records, the one or more data records comprising at least one open drivable surface record of the plurality of open drivable surface records; and 
 based on information stored in the one or more data records, perform a navigation function. 
   
     
     
         2 . The apparatus of  claim 1 , wherein a first data record of the plurality of data records comprises a plurality of instances of adjacency information, each instance of adjacency information (a) associates the first data record corresponding to a first surface of the road network with a second data record of the plurality of data records corresponding to a second surface of the road network, wherein the first surface is adjacent to the second surface and (b) indicates crossing parameters between the first surface and the second surface. 
     
     
         3 . The apparatus of  claim 2 , wherein the navigation function is determining a driving corridor along at least a first lane, wherein the driving corridor along the first lane travels from an entry portal of the first lane to an exit portal of the first lane, wherein the entry portal and the exit portal are defined by the instances of adjacency information corresponding to the first lane. 
     
     
         4 . The apparatus of  claim 3 , wherein the navigation corridor passes from the exit portal of the first lane to an entry portal of one of (a) a second lane or (b) a first open drivable surface and the navigation corridor travels along the one of the second lane or the first open drivable surface to an exit portal thereof. 
     
     
         5 . The apparatus of  claim 1 , wherein two or more lanes of the road network at least partially overlap at the particular open drivable surface. 
     
     
         6 . The apparatus of  claim 1  further comprising a user interface, the processor further configured to cause the user interface to display a result of performing the navigation function. 
     
     
         7 . The apparatus of  claim 6 , wherein the navigation function is determining a lane level driving corridor from a start location to a destination location and the result displayed is a visualization of the one or more lane records and one or more open drivable surface records corresponding to the driving corridor. 
     
     
         8 . The apparatus of  claim 1 , wherein the navigation function is determining a lane level driving corridor from a start location to a destination location and the processor is further configured to control one or more mechanical systems of a vehicle to cause the vehicle to traverse at least a portion of the driving corridor. 
     
     
         9 . The apparatus of  claim 1 , wherein (a) an open drivable surface record of the plurality of open drivable surface records comprises one or more features corresponding to a corresponding open drivable surface, the one or more features comprising at least one of a lane identifier, a segment identifier, a segment name, an open drivable surface identifier, an intersection identifier, a speed limit, one or more traffic rules, or one or more traffic conditions corresponding to the first drivable surface and (b) a lane record of the plurality of lane records comprises at least one of lane geometry information, a lane center line, or interior lane boundaries for the corresponding lane. 
     
     
         10 . The apparatus of  claim 1 , wherein each lane record comprises one or more lateral boundary elements and one or more longitudinal boundary elements, a lateral boundary element not crossing a flow of traffic along a corresponding lane of the road network and a longitudinal boundary element crossing the flow of traffic along the corresponding lane. 
     
     
         11 . The apparatus of  claim 1 , wherein the plurality of data records comprises one or more non-drivable surface records, each non-drivable surface record corresponds to a non-drivable surface of the road network, the non-drivable surface being a surface of the road network not intended for driving on. 
     
     
         12 . A non-transitory computer readable medium having stored therein a geographic database storing map data, the geographic database comprising:
 a plurality of data records corresponding to drivable surfaces of a road network, the plurality of data records comprising:
 a plurality of data records corresponding to drivable surfaces of a road network, the plurality of data records comprising:
 a plurality of lane records, wherein each lane record corresponds to a drivable surface of a particular lane of the road network, and 
 a plurality of open drivable surface records, wherein each open drivable surface record corresponds to a drivable surface of a particular open drivable surface of the road network, wherein the particular open drivable surface is a portion of a surface of the road network where a lane-level topology of the road network changes; and 
 
   wherein the geographic database is configured for use, by an apparatus comprising a processor, for performing a navigation function based at least in part on information stored in one or more data records of the plurality of data records.   
     
     
         13 . The non-transitory computer readable medium of  claim 12 , wherein a first data record of the plurality of data records comprises a plurality of instances of adjacency information, each instance of adjacency information (a) associates the first data record corresponding to a first surface of the road network with a second data record of the plurality of data records corresponding to a second surface of the road network, wherein the first surface is adjacent to the second surface and (b) indicates crossing parameters between the first surface and the second surface. 
     
     
         14 . The non-transitory computer readable medium of  claim 13 , wherein the navigation function is determining a driving corridor along at least a first lane, wherein the driving corridor along the first lane travels from an entry portal of the first lane to an exit portal of the first lane, wherein the entry portal and the exit portal are defined by the instances of adjacency information corresponding to the first lane. 
     
     
         15 . The non-transitory computer readable medium of  claim 14 , wherein the navigation corridor passes from the exit portal of the first lane to an entry portal of one of (a) a second lane or (b) a first open drivable surface and the navigation corridor travels along the one of the second lane or the first open drivable surface to an exit portal thereof. 
     
     
         16 . The non-transitory computer readable medium of  claim 12 , wherein the apparatus further comprises a user interface and the geographic database is further configured for use, by the apparatus, in displaying a result of performing the navigation function via the user interface. 
     
     
         17 . The non-transitory computer readable medium of  claim 12 , wherein (a) an open drivable surface record of the plurality of open drivable surface records comprises one or more features corresponding to a corresponding open drivable surface, the one or more features comprising at least one of a lane identifier, a segment identifier, a segment name, an open drivable surface identifier, an intersection identifier, a speed limit, one or more traffic rules, or one or more traffic conditions corresponding to the first drivable surface and (b) a lane record of the plurality of lane records comprises at least one of lane geometry information, a lane center line, or interior lane boundaries for the corresponding lane. 
     
     
         18 . The non-transitory computer readable medium of  claim 12 , wherein each lane record comprises one or more lateral boundary elements and one or more longitudinal boundary elements, a lateral boundary element not crossing a flow of traffic along a corresponding lane of the road network and a longitudinal boundary element crossing the flow of traffic along the corresponding lane. 
     
     
         19 . The non-transitory computer readable medium of  claim 12 , wherein the plurality of data records comprises one or more non-drivable surface records, each non-drivable surface record corresponds to a non-drivable surface of the road network, the non-drivable surface being a surface of the road network not intended for driving on. 
     
     
         20 . A method comprising:
 accessing, by a processor, one or more data records of a plurality of data records of a geographic database storing map data, the geographic database stored in a memory in communication with the processor, the plurality of data records corresponding to drivable surfaces of a road network, the plurality of data records comprising:
 a plurality of lane records, wherein each lane record corresponds to a drivable surface of a particular lane of the road network, and 
 a plurality of open drivable surface records, wherein each open drivable surface record corresponds to a drivable surface of a particular open drivable surface of the road network, wherein the particular open drivable surface is a portion of a surface of the road network where a lane-level topology of the road network changes, 
   wherein the one or more data records comprising at least one open drivable surface record of the plurality of open drivable surface records; and
 based on information stored in the one or more data records, performing, by the processor, a navigation function.