Self-Generated OSM-Based Driving Corridors

Finding the boundaries of the drivable space is a key to the development of any advanced driver assistance systems with automated driving functions. A common approach found in the literature is to combine the information of digital maps with multiple on-board sensors for building a robust and accurate model of the environment from which to extract the navigable space. In this sense, the digital map is the crucial component for relating the location of the vehicle and identifying the different road features. This paper presents an automatic procedure for generating driving corridors from OpenStreetMap. The proposed method expands the original map representation, replacing polylines by polynomial-based roads, whose sections are defined using cubic Bézier curves. All curves are automatically adjusted from the original road description, thus generating an efficient and accurate road representation without human intervention. Finally, the driving corridors are generated as a concatenation of the modified road sections along a planned route. The proposed approach has been validated in a peri-urban environment, for which corridors where successfully generated in all cases.