Method and apparatus for providing a steering reliability map based on driven curvatures and geometry curvature
An approach is provided for comparing experienced curvatures with geometry-based curvatures to identify road environments. The approach involves causing, at least in part, an aggregation of a plurality of curvature samples collected from one or more vehicles traversing one or more travel segments. The approach also involves processing and/or facilitating a processing of the curvature samples to determine at least one experienced curvature for the one or more travel segments. The approach further involves determining at least one geometry-based curvature for the one or more travel segments. The approach also involves determining one or more differences between at least one experienced curvature and the at least one geometry-based curvature.
1. A method for operating an autonomous vehicle based on road curvature data comprising:
collecting, by respective sensors of one or more vehicles, a plurality of curvature samples when the one or more vehicles travel one or more travel segments;
processing the plurality of curvature samples to determine respective driving paths of the one or more vehicles through the one or more travel segments, wherein the respective driving paths represent an experienced curvature for the one or more travel segments;
calculating a geometry-based curvature for the one or more travel segments based on road-geometry data; and
initiating or recommending an autonomous operation of the autonomous vehicle traveling the one or more travel segments based on the experienced curvature, or based on a combination of the geometry-based curvature and the experienced curvature.
2. The method of claim 1 , further comprising:
determining one or more differences between the experienced curvature and the geometry-based curvature; and
associating the one or more differences with map data.
3. The method of claim 2 , wherein the autonomous operation of the autonomous vehicle is initiated or recommended by querying the map data for the one or more differences.
4. The method of claim 2 , further comprising:
determining one or more errors in the map data based on the one or more differences that are above a threshold value.
5. The method of claim 1 , further comprising:
determining an operational parameter for the autonomous operation based on the experienced curvature or the combination of the geometry-based curvature and the experienced curvature.
6. The method of claim 5 , wherein the operational parameter includes a speed rate, an acceleration rate, a braking rate, a steering rate, a cornering force, or a combination thereof.
7. The method of claim 5 , wherein a user interface is presented at the autonomous vehicle to select or modify the operational parameter for the autonomous operation.
8. 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;
collect, by respective sensors of one or more vehicles, a plurality of curvature samples when the one or more vehicles travel one or more travel segments;
process the plurality of curvature samples to determine respective driving paths of the one or more vehicles through the one or more travel segments, wherein the respective driving paths represent an experienced curvature for the one or more travel segments;
calculate a geometry-based curvature for the one or more travel segments based on road-geometry data; and
initiate or recommending an autonomous operation of the autonomous vehicle traveling the one or more travel segments based on the experienced curvature, or based on a combination of the geometry-based curvature and the experienced curvature.
9. The apparatus of claim 8 , wherein the apparatus is further caused to:
determine one or more differences between the experienced curvature and the geometry-based curvature; and
associate the one or more differences with map data.
10. The apparatus of claim 9 , wherein the autonomous operation of the autonomous vehicle is initiated or recommended by querying the map data for the one or more differences.
11. The apparatus of claim 9 , wherein the apparatus is further caused to:
determine one or more errors in the map data based on the one or more differences that are above a threshold value.
12. The apparatus of claim 9 , wherein the apparatus is further caused to:
determine an operational parameter for the autonomous operation based on the experienced curvature or the combination of the geometry-based curvature and the experienced curvature.
13. The apparatus of claim 12 , wherein the operational parameter includes a speed rate, an acceleration rate, a braking rate, a steering rate, a cornering force, or a combination thereof.
14. The apparatus of claim 12 , wherein a user interface is presented at the autonomous vehicle to select or modify the operational parameter for the autonomous operation.
15. A non-transitory computer-readable storage medium carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to perform:
collecting, by respective sensors of one or more vehicles, a plurality of curvature samples when the one or more vehicles travel one or more travel segments;
processing the plurality of curvature samples to determine respective driving paths of the one or more vehicles through the one or more travel segments, wherein the respective driving paths represent an experienced curvature for the one or more travel segments;
calculating a geometry-based curvature for the one or more travel segments based on road-geometry data; and
initiating or recommending an autonomous operation of the autonomous vehicle traveling the one or more travel segments based on the experienced curvature, or based on a combination of the geometry-based curvature and the experienced curvature.
16. The computer-readable storage medium of claim 15 , wherein the apparatus is further caused to perform:
determining one or more differences between the experienced curvature and the geometry-based curvature; and
associating the one or more differences with map data.
17. The computer-readable storage medium of claim 16 , wherein the autonomous operation of the autonomous vehicle is initiated or recommended by querying the map data for the one or more differences.
18. The computer-readable storage medium of claim 16 , wherein the apparatus is further caused to perform:
determining one or more errors in the map data based on the one or more differences that are above a threshold value.
19. The computer-readable storage medium of claim 15 , wherein the apparatus is further caused to perform:
determining an operational parameter for the autonomous operation based on the experienced curvature or the combination of the geometry-based curvature and the experienced curvature.
20. The computer-readable storage medium of claim 19 , wherein the operational parameter includes a speed rate, an acceleration rate, a braking rate, a steering rate, a cornering force, or a combination thereof.