Patent US3143943A successfully refreshed from Google Patents.
Patent US4817586A successfully refreshed from Google Patents.
US7072764B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Real time high accuracy geospatial database for onboard intelligent vehicle applications
Assignee: University of Minnesota Twin Cities
•
Filing: 2002-03-05
•
Granted: 2006-07-04
•
Expires: 2022-03-05
Abstract
Abstract A geospatial database management system is mounted on a host vehicle and manages geospatial data relating to a travel path for the host vehicle, the travel path having one or more lanes. A geospatial database stores data elements indicative of objects and a location of the objects in three-dimensional space. The objects have a lane-level resolution and the location is accurate to within an order of one decimeter or better. A database manager component is configured to maintain the data elements in the geospatial database and receive database queries from a driver assist subsystem configured to assist a driver of the host vehicle. A query processor is coupled to the database manager component and to the geospatial database and is configured to receive the database query from the database manager component. The query processor queries the geospatial database and returns query results to the database manager component. This can be done in real time.
Inventors
- 👤 Max Donath
- 👤 Bryan Newstrom
- 👤 Craig R. Shankwitz
- 👤 Alec Gorjestani
- 👤 Heonmin Lim
- 👤 Lee Alexander
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 11:01
CPC Classifications
G; G01; G01C; G01C21/00; G01C21/26; G06; G06F; G06F16/00; G06F16/20; G06F16/29; B; B60; B60R; B60R2300/00; B60R2300/20; B60R2300/207; B60R2300/30; B60R2300/302; B60R2300/60; B60R2300/80; B60R2300/8046; B60R2300/8066
Claims Analysis
Total Claims: 48
Claim 1
Independent Claim
147 words
A geospatial database management system (GDMS), mounted on a host vehicle, managing geospatial data relating to travel paths having one or more lanes, comprising: a geospatial database storing data elements indicative of objects and a location of the objects in three dimensional space, the objects having a lane-level resolution and the location having an accuracy of approximately one decimeter or less; a database manager component configured to maintain the data elements in the geospatial database and receive database queries from a driver assist subsystem configured to assist a driver of the host vehicle based on the data elements stored in the geospatial database; and a query processor coupled to the database manager component and the geospatial database and configured to receive the database queries from the database manager component, query the geospatial database based on the database queries and return query results to the database manager component.
Claim 2
Dependent Claim
147 words
A geospatial database management system (GDMS), mounted on a host vehicle, managing geospatial data relating to travel paths having one or more lanes, comprising: a geospatial database storing data elements indicative of objects and a location of the objects in three dimensional space, the objects having a lane-level resolution and the location having an accuracy of approximately one decimeter or less; a database manager component configured to maintain the data elements in the geospatial database and receive database queries from a driver assist subsystem configured to assist a driver of the host vehicle based on the data elements stored in the geospatial database; and a query processor coupled to the database manager component and the geospatial database and configured to receive the database queries from the database manager component, query the geospatial database based on the database queries and return query results to the database manager component.
Claim 3
Dependent Claim
25 words
The GDMS of claim 1 wherein the database manager component and the query processor are configured to return the query results in substantially real time.
Claim 4
Dependent Claim
36 words
The GDMS of claim 2 wherein the database manager component and the query processor are configured to return the query results within approximately 100 milliseconds (ms) of receiving the database query from the driver assist subsystem.
Claim 5
Dependent Claim
35 words
The GDMS of claim 3 wherein the database manager component and the query processor are configured to return the query results within approximately 50 ms of receiving the database query from the driver assist subsystem.
Claim 6
Dependent Claim
35 words
The GDMS of claim 3 wherein the database manager component and the query processor are configured to return the query results within approximately 12 ms of receiving the database query from the driver assist subsystem.
Claim 7
Dependent Claim
23 words
The GDMS of claim 3 wherein the location of the objects in the geospatial database is accurate to within less than one decimeter.
Claim 8
Dependent Claim
25 words
The GDMS of claim 6 wherein the location of the objects in the geospatial database is accurate to within less than approximately +/− 0.1 meters.
Claim 9
Dependent Claim
26 words
The GDMS of claim 7 wherein the location of the objects in the geospatial database is accurate to within a range of approximately +/− 2-10 centimeters.
Claim 10
Dependent Claim
50 words
The GDMS of claim 1 wherein the database query from the driver assist subsystem includes a query polygon indicative of a geospatial region of interest and wherein the query processor is configured to identify data elements in the geospatial database that have a location that intersects with the query polygon.
Claim 11
Dependent Claim
53 words
The GDMS of claim 9 wherein the database manager component maintains the geospatial database according to tiles, each tile corresponding to a predetermined geospatial region, each tile including one or more corresponding data element lists, each data element list listing data elements of a specified element type that intersect with the corresponding tile.
Claim 12
Dependent Claim
42 words
The GDMS of claim 10 wherein the query processor is configured to identify data elements in the geospatial database that have a location that intersects with the query polygon by identifying tiles as intersecting tiles if they intersect with the query polygon.
Claim 13
Dependent Claim
59 words
The GDMS of claim 11 wherein the database query includes a data element indicator indicating relevant data element types that are relevant to the database query, and wherein the query processor is configured to search the data element lists in the intersecting tiles to identify relevant data element lists that contain data elements having the relevant data element types.
Claim 14
Dependent Claim
45 words
The GDMS of claim 12 wherein the query processor is configured to identify data elements in the geospatial database that have a location that intersects with the query polygon by identifying data elements in the relevant data element lists that intersect with the query polygon.
Claim 15
Dependent Claim
61 words
The GDMS of claim 1 wherein the database manager component is configured to maintain the data elements in the geospatial database as data objects having an attribute portion and a spatial data portion, the attribute portion including attributes indicative of the data object and the spatial data portion including data indicative of the location of the object in three dimensional space.
Claim 16
Dependent Claim
19 words
The GDMS of claim 14 wherein the data objects include a LaneBoundary object representative of a roadway lane boundary.
Claim 17
Dependent Claim
18 words
The GDMS of claim 14 wherein the data objects include a RoadShoulder object representative of a roadway shoulder.
Claim 18
Dependent Claim
18 words
The GDMS of claim 14 wherein the data objects include a RoadIsland object representative of a roadway island.
Claim 19
Dependent Claim
19 words
The GDMS of claim 14 wherein the data objects include a LaneCenter object representative of a roadway lane center.
Claim 20
Dependent Claim
19 words
The GDMS of claim 14 wherein the data objects are configured based on requirements of the driver assist subsystem.
Claim 21
Dependent Claim
20 words
The GDMS of claim 14 wherein the attributes are indicative of how to draw the data object on a display.
Claim 22
Dependent Claim
19 words
The GDMS of claim 14 wherein the data objects include objects representative of structures adjacent to the travel paths.
Claim 23
Dependent Claim
43 words
The GDMS of claim 21 wherein the data objects are representative of one or more of mailboxes, jersey barriers, guard rails, bridge abutments, tunnel walls, ground plane and ceiling, curbs, curb cutouts, fire hydrants, light posts, traffic signal posts, sign and sign posts.
Claim 24
Dependent Claim
28 words
The system of claim 1 , wherein the driver assist subsystem includes a head-up display that generates an image of boundaries of the lanes of the travel paths.
Claim 25
Dependent Claim
41 words
The system of claim 23 , wherein the head-up display is positioned in the host vehicle such that the boundaries of the image substantially overlay actual lane boundaries of the travel paths when viewed by the driver of the host vehicle.
Claim 26
Dependent Claim
61 words
The system of claim 24 , including a radar subsystem configured to detect objects in a vicinity of the host vehicle and pass a location of the detected objects to the head-up display which modifies the image to include a graphical representation of the detected objects that substantially overlay the detected objects when viewed by the driver of the host vehicle.
Claim 27
Dependent Claim
30 words
The system of claim 25 , including a radar filtering subsystem that blocks the passage of the location of selected objects, detected by the radar subsystem, to the head-up display.
Claim 28
Dependent Claim
21 words
The system of claim 1 , wherein the driver assist subsystem generates haptic feedback to the driver of the host vehicle.
Claim 29
Dependent Claim
38 words
The system of claim 27 , wherein the haptic feedback is generated in response to a position of the host vehicle relative to the location of the objects corresponding to the data elements stored in the geospatial database.
Claim 30
Dependent Claim
22 words
The system of claim 27 , wherein the haptic feedback is generated through a steering wheel, a brake pedal, or a seat.
Claim 31
Dependent Claim
16 words
The system of claim 27 , wherein the driver assist subsystem is a virtual rumble strip.
Claim 32
Dependent Claim
23 words
The system of claim 27 , wherein the haptic feedback includes at least one stimulus applied to the driver of the host vehicle.
Claim 33
Dependent Claim
23 words
The system of claim 31 , wherein the stimulus includes at least one of a vibration, a force, a torque, and a motion.
Claim 34
Dependent Claim
39 words
The system of claim 1 , wherein the driver assist subsystem generates a warning based on a position of the host vehicle relative to the location of the objects corresponding to the data elements stored in the geospatial database.
Claim 35
Dependent Claim
27 words
The system of claim 33 , wherein the warning is at least one of a visual warning, an audio warning, a tactile warning, and a haptic warning.
Claim 36
Dependent Claim
34 words
The system of claim 1 , including a radar subsystem configured to detect objects in a vicinity of the host vehicle and pass a location of the detected objects to the driver assist subsystem.
Claim 37
Dependent Claim
92 words
A geospatial database management system (GDMS) for use on a host vehicle with a driver assist subsystem, comprising: a geospatial database storing objects having attributes indicative of items relating to a travel path for the host vehicle and a location of the items in a coordinate system, the objects being stored with lane-level resolution sufficient to distinguish among different lanes in the travel path; and a database accessing system configured to access the objects in the geospatial database, in response to a query from the driver assist subsystem, in substantially real time.
Claim 38
Dependent Claim
92 words
A geospatial database management system (GDMS) for use on a host vehicle with a driver assist subsystem, comprising: a geospatial database storing objects having attributes indicative of items relating to a travel path for the host vehicle and a location of the items in a coordinate system, the objects being stored with lane-level resolution sufficient to distinguish among different lanes in the travel path; and a database accessing system configured to access the objects in the geospatial database, in response to a query from the driver assist subsystem, in substantially real time.
Claim 39
Dependent Claim
30 words
The GDMS of claim 36 wherein the database accessing system is configured to return query results within approximately 100 milliseconds (ms) of receiving the query from the driver assist subsystem.
Claim 40
Dependent Claim
30 words
The GDMS of claim 37 wherein the database accessing system is configured to return the query results within approximately 50 ms of receiving the query from the driver assist subsystem.
Claim 41
Dependent Claim
30 words
The GDMS of claim 38 wherein the database accessing system is configured to return the query results within approximately 12 ms of receiving the query from the driver assist subsystem.
Claim 42
Dependent Claim
84 words
A geospatial database management system (GDMS) for use on a host vehicle with a driver assist subsystem, comprising: a geospatial database storing objects having attributes indicative of items relating to a travel path for the host vehicle and a location of the items in a coordinate system, the location being accurate to within approximately 1 decimeter; and a database accessing system configured to access the objects in the geospatial database, in response to a query from the driver assist subsystem, in substantially real time.
Claim 43
Dependent Claim
84 words
A geospatial database management system (GDMS) for use on a host vehicle with a driver assist subsystem, comprising: a geospatial database storing objects having attributes indicative of items relating to a travel path for the host vehicle and a location of the items in a coordinate system, the location being accurate to within approximately 1 decimeter; and a database accessing system configured to access the objects in the geospatial database, in response to a query from the driver assist subsystem, in substantially real time.
Claim 44
Dependent Claim
25 words
The GDMS of claim 40 wherein the geospatial database stores the objects with lane-level resolution sufficient to distinguish among different lanes in the travel path.
Claim 45
Dependent Claim
16 words
The GDMS of claim 40 wherein the location is accurate to within approximately +/− 0.1 meters.
Claim 46
Dependent Claim
19 words
The GDMS of claim 42 wherein the location is accurate to within a range of approximately +/− 2-10 centimeters.
Claim 47
Dependent Claim
171 words
A geospatial database management system (GDMS), mounted on a host vehicle, managing geospatial data relating to travel paths having one or more lanes, comprising: a geospatial database storing data elements indicative of objects and a location of the objects in three dimensional space, the objects having a lane-level resolution and the location having an accuracy of approximately one decimeter or less; a database manager component configured to maintain the data elements in the geospatial database and receive database queries from a driver assist subsystem configured to assist a driver of the host vehicle based on the data elements stored in the geospatial database; a query processor coupled to the database manager component and the geospatial database and configured to receive the database queries from the database manager component, query the geospatial database based on the database queries and return query results to the database manager component; and a radar filtering subsystem that blocks the passage of the location of selected objects, detected by the radar subsystem, to the driver assist subsystem.
Claim 48
Dependent Claim
171 words
A geospatial database management system (GDMS), mounted on a host vehicle, managing geospatial data relating to travel paths having one or more lanes, comprising: a geospatial database storing data elements indicative of objects and a location of the objects in three dimensional space, the objects having a lane-level resolution and the location having an accuracy of approximately one decimeter or less; a database manager component configured to maintain the data elements in the geospatial database and receive database queries from a driver assist subsystem configured to assist a driver of the host vehicle based on the data elements stored in the geospatial database; a query processor coupled to the database manager component and the geospatial database and configured to receive the database queries from the database manager component, query the geospatial database based on the database queries and return query results to the database manager component; and a radar filtering subsystem that blocks the passage of the location of selected objects, detected by the radar subsystem, to the driver assist subsystem.
References Cited (Backward Citations)
US4120566A
Cited
US5231379A
Cited
US5291338A
Cited
US5214757A
Cited
US5381338A
Cited
US5499325A
Cited
US5949331A
Cited
US5517419A
Cited
US6226389B1
Cited
US5765116A
Cited
US5497271A
Cited
US5734358A
Cited
US5414439A
Cited
US5966132A
Cited
US5848373A
Cited
US5808566A
Cited
US5543789A
Cited
US6107944A
Cited
US6104316A
Cited
US5826212A
Cited
US6038496A
Cited
US5951620A
Cited
US5872526A
Cited
US5953722A
Cited
US6308177B1
Cited
US6361321B1
Cited
US5999878A
Cited
US6272431B1
Cited
US6157342A
Cited
US5926117A
Cited
US6047234A
Cited
US6370475B1
Cited
US6405132B1
Cited
US6289278B1
Cited
US6038559A
Cited
US6298303B1
Cited
US6192314B1
Cited
US6144335A
Cited
US6486856B1
Cited
US6184823B1
Cited
US6212474B1
Cited
US6208934B1
Cited
US6166698A
Cited
US6161071A
Cited
US6218934B1
Cited
US6249742B1
Cited
US6122593A
Cited
US6438491B1
Cited
WO2001011388A1
Cited
US6385539B1
Cited
US6188957B1
Cited
US6366851B1
Cited
EP1096229A1
Cited
US6314365B1
Cited
US6278942B1
Cited
US6314367B1
Cited
US6253151B1
Cited
US6526352B1
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2009-07-03 | 2010-01-02 | 2010-07-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2013-07-03 | 2014-01-02 | 2014-07-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2017-07-03 | 2018-01-02 | 2018-07-04 | $7700.00 | Window Closed / Lapsed |