Detailed map format for autonomous driving

Abstract

A computer-readable detailed map format is disclosed. The detailed map format includes a plurality of lane segments and a plurality of lane links. Each of the lane links can extend between two lane segments across a traffic intersection. Each of the lane links can also be associated with one of a plurality of traffic signals. A transition rule is associated with a first lane link and based on information associated with the one of the plurality of traffic signals associated with the first lane link. An interlock rule can be based on information associated with the one of the plurality of traffic signals associated with a second lane link. The first lane link and second lane link can be associated with different traffic signals and can extend between different lane segments across the traffic intersection.

What is claimed is: 
     
         1 . A computer-readable map format, comprising:
 a plurality of lane segments, each lane segment associated with a branch of a traffic intersection;   a plurality of lane links, each lane link associated with two of the plurality of lane segments and extending between two of the branches of the traffic intersection;   a plurality of traffic signals, each traffic signal associated with at least one of the plurality of lane links;   a transition rule associated with a first lane link, wherein the transition rule is based on information associated with the one of the plurality of traffic signals associated with the first lane link; and   an interlock rule based on information associated with the one of the plurality of traffic signals associated with a second lane link.   
     
     
         2 . The map format of  claim 1 , wherein the first lane link and the second lane link are associated with different traffic signals. 
     
     
         3 . The map format of  claim 1 , wherein the first lane link and the second lane link extend between different branches of the traffic intersection. 
     
     
         4 . The map format of  claim 1 , wherein the information associated with each traffic signal includes a geographical location and a traffic signal type and a traffic signal state. 
     
     
         5 . The map format of  claim 4 , wherein the traffic signal type includes information regarding structure and orientation for at least one of a traffic light and a traffic sign. 
     
     
         6 . The map format of  claim 4 , 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. 
     
     
         7 . The map format of  claim 4 , wherein the transition rule is based on the traffic signal state of the one of the plurality of traffic signals associated with the first lane link. 
     
     
         8 . The map format of  claim 4 , wherein the interlock rule is based on an inferred traffic signal state for the one of the plurality of traffic signals associated with the second lane link. 
     
     
         9 . The map format of  claim 1 , further comprising:
 a stop line associated with an end of at least one of the plurality of lane segments, wherein information associated with the stop line includes a geographical location, the geographical location representing a position where a vehicle must stop before the traffic intersection.   
     
     
         10 . 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. 
     
     
         11 . A computer-readable map format, comprising:
 a plurality of lane segments;   a plurality of lane links, each lane link extending between two lane segments across a traffic intersection and associated with one of a plurality of traffic signals;   a transition rule associated with a first lane link, wherein the transition rule is based on information associated with the one of the plurality of traffic signals associated with the first lane link; and   an interlock rule based on information associated with the one of the plurality of traffic signals associated with a second lane link.   
     
     
         12 . The map format of  claim 11 , wherein the first lane link and the second lane link are associated with different traffic signals. 
     
     
         13 . The map format of  claim 11 , wherein the first lane link and the second lane link extend between a different set of two lane segments across the traffic intersection. 
     
     
         14 . The map format of  claim 11 , wherein the information associated with each traffic signal includes a geographical location and a traffic signal type and a traffic signal state. 
     
     
         15 . The map format of  claim 14 , wherein the traffic signal type includes information regarding structure and orientation for at least one of a traffic light and a traffic sign. 
     
     
         16 . The map format of  claim 14 , 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. 
     
     
         17 . The map format of  claim 14 , wherein the transition rule is based on the traffic signal state of the one of the plurality of traffic signals associated with the first lane link. 
     
     
         18 . The map format of  claim 14 , wherein the interlock rule is based on an inferred traffic signal state for the one of the plurality of traffic signals associated with the second lane link. 
     
     
         19 . The map format of  claim 11 , further comprising:
 a stop line associated with an end of at least one of the plurality of lane segments, wherein information associated with the stop line includes a geographical location, the geographical location representing a position where a vehicle must stop before the traffic intersection.   
     
     
         20 . 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.