Extended electronic horizon for automated driving

Advanced Driver Assistance Systems (ADAS) rely on a combination of data acquired from on-board sensors and map data, the so-called Electronic Horizon. The Electronic Horizon provides an extended view on the surroundings of the ego vehicle, thereby enriching safety and efficiency applications. In this context, one key aspect is the application program interface (API) that is used between the Electronic Horizon and ADAS components. Although proposals of interfaces exist, none of them currently meets the requirements of future automated vehicles. To fill this gap, we propose extensions to the concepts used in ADASISv2 and ETSI LDM. Our solution comes in the form of an extended ADASIS protocol that uses a hybrid data representation approach: 1D lane-level path map and 2D detailed spatial map. We validated our protocol with real-world experiments being run in an automated vehicle and showed that such a hybrid approach can reduce up to 80% of the amount of data sent to applications, while maintaining compatibility with the current ADASISv2 protocol specification.