iLDM: An Interoperable Graph-Based Local Dynamic Map

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...

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Bibliographic Details
Published in:Vehicles 2022-03, Vol.4 (1), p.42-59
Main Authors: García, Mikel, Urbieta, Itziar, Nieto, Marcos, González de Mendibil, Javier, Otaegui, Oihana
Format: Article
Language:English
Subjects:
Advanced driver assistance systems
Automation
Communication
Data analysis
Data models
iLDM
Interfaces
interoperability
LDM
local dynamic map
Ontology
OpenLABEL
Pedestrians
Reference systems
Relational data bases
Software
Traffic congestion
V2X
Vehicles
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Summary: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.
ISSN:2624-8921
2624-8921
DOI:10.3390/vehicles4010003