DETAILED MAP FORMAT FOR AUTONOMOUS DRIVING
A computer-readable detailed map format is disclosed. The detailed map format includes a lane segment and one or more border segments. A distance to an edge of the lane segment can be determined at a location along the lane segment by measuring a distance between the location and a portion of the border segment closest to the location. A lane width of the lane segment can be determined at a location along the lane segment by measuring a distance between two of the border segments positioned proximate to and on opposite sides of the lane segment.
1 . A computer-readable map format, comprising:
a lane segment; and
a border segment;
wherein a distance to an edge of the lane segment can be determined at a location along the lane segment by measuring a distance between the location and a portion of the border segment closest to the location.
2 . The map format of claim 1 , wherein the lane segment is formed from a plurality of waypoints and wherein information associated with each waypoint includes at least one of a geographical location and a lane speed and a lane direction.
3 . The map format of claim 1 , wherein the border segment is formed from a plurality of borderpoints and wherein information associated with each borderpoint includes at least a geographical location and a border type and a border color.
4 . The map format of claim 3 , wherein information associated with the lane segment includes a driving rule and wherein the driving rule is based at least in part on the border type and the border color associated with a proximate one of the plurality of borderpoints.
5 . The map format of claim 3 , wherein the border type includes at least one of a curb, a single solid line, a double solid line, a single dashed line, a combined dashed line and solid line, and no line.
6 . The map format of claim 3 , wherein the border color includes at least one of yellow, white, and unknown.
7 . The map format of claim 1 , further comprising:
a stop line associated with an end of the lane segment, wherein information associated with the stop line includes a geographical location, the geographical location representing a position where a vehicle must stop before a traffic intersection.
8 . The map format of claim 1 , further comprising:
a traffic signal, wherein information associated with the traffic signal includes a geographical location and a traffic signal type and a traffic signal state.
9 . The map format of claim 8 , wherein the traffic signal type includes information regarding structure and orientation for at least one of a traffic light and a traffic sign.
10 . The map format of claim 9 , wherein the traffic signal type is a traffic light and the traffic signal state includes at least one of green, green arrow, yellow, blinking yellow, and red.
11 . A computer-readable map format, comprising:
a lane segment; and
a plurality of border segments;
wherein a lane width of the lane segment can be determined at a location along the lane segment by measuring a distance between at least two of the plurality of border segments positioned proximate to and on opposite sides of the lane segment.
12 . The map format of claim 11 , wherein the lane segment is formed from a plurality of waypoints and wherein information associated with each waypoint includes at least one of a geographical location and a lane speed and a lane direction.
13 . The map format of claim 11 , wherein the border segment is formed from a plurality of borderpoints and wherein information associated with each borderpoint includes at least a geographical location and a border type and a border color.
14 . The map format of claim 13 , wherein information associated with the lane segment includes a driving rule and wherein the driving rule is based at least in part on the border type and the border color associated with a proximate one of the plurality of borderpoints.
15 . The map format of claim 13 , wherein the border type includes at least one of a curb, a single solid line, a double solid line, a single dashed line, a combined dashed line and solid line, and no line.
16 . The map format of claim 13 , wherein the border color includes at least one of yellow, white, and unknown.
17 . The map format of claim 11 , further comprising:
a stop line associated with an end of the lane segment, wherein information associated with the stop line includes a geographical location, the geographical location representing a position where a vehicle must stop before a traffic intersection.
18 . The map format of claim 11 , further comprising:
a traffic signal, wherein information associated with the traffic signal includes a geographical location and a traffic signal type and a traffic signal state.
19 . The map format of claim 18 , wherein the traffic signal type includes information regarding structure and orientation for at least one of a traffic light and a traffic sign.
20 . The map format of claim 19 , wherein the traffic signal type is a traffic light and the traffic signal state includes at least one of green, green arrow, yellow, blinking yellow, and red.