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- Title
iLDM: An Interoperable Graph-Based Local Dynamic Map.
- Authors
García, Mikel; Urbieta, Itziar; Nieto, Marcos; González de Mendibil, Javier; Otaegui, Oihana
- Abstract
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.
- Subjects
DRIVER assistance systems; INTERNETWORKING; SYSTEMS development
- Publication
Vehicles (2624-8921), 2022, Vol 4, Issue 1, p42
- ISSN
2624-8921
- Publication type
Article
- DOI
10.3390/vehicles4010003