iLDM: An Interoperable Graph-Based Local Dynamic Map

Vehicles

Mikel García¹  Javier González de Mendibil¹  Marcos Nieto¹  Itziar Urbieta¹  Oihana Otaegui¹ 

[1] Vicomtech Foundation, Basque Research and Technology Alliance (BRTA), 20009 San Sebastián, Spain;

关键词: local dynamic map;    LDM;    iLDM;    V2X;    OpenLABEL;    interoperability;   

DOI  :  10.3390/vehicles4010003

来源: DOAJ

【 摘 要 】

Local dynamic map (LDM) is a key component in the future of autonomous and connected vehicles. An LDM serves as a local database with the necessary tools to have a common reference system for both static data (i.e., map information) and dynamic data (vehicles, pedestrians, etc.). The LDM should have a common and well-defined input system in order to be interoperable across multiple data sources such as sensor detections or V2X communications. In this work, we present an interoperable graph-based LDM (iLDM) using Neo4j as our database engine and OpenLABEL as a common data format. An analysis on data insertion and querying time to the iLDM is reported, including a vehicle discovery service function in order to test the capabilities of our work and a comparative analysis with other LDM implementations showing that our proposed iLDM outperformed in several relevant features, furthering its practical utilisation in advanced driver assistance system development.

【 授权许可】

Unknown