Detailed map format for autonomous driving

Abstract

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.

What is claimed is: 
     
         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.