RTMaps-based Local Dynamic Map for multi-ADAS data fusion

TL;DR

This paper presents a real-time Local Dynamic Map implementation using RTMaps middleware, enabling multi-ADAS data fusion within vehicles and at roadside units through standards, middleware, and semantic data linkage.

Contribution

It introduces a novel RTMaps-based LDM component that fuses multi-ADAS data in real-time, addressing the lack of defined mechanisms for data linking across layers.

Findings

Real-time LDM deployed in vehicles and RSUs

Effective data fusion from multiple ADAS sources

Use of standards and semantic linkage enhances fusion

Abstract

Work on Local Dynamic Maps (LDM) implementation is still in its early stages, as the LDM standards only define how information shall be structured in databases, while the mechanism to fuse or link information across different layers is left undefined. A working LDM component, as a real-time database inside the vehicle is an attractive solution to multi-ADAS systems, which may feed a real-time LDM database that serves as a central point of information inside the vehicle, exposing fused and structured information to other components (e.g., decision-making systems). In this paper we describe our approach implementing a real-time LDM component using the RTMaps middleware, as a database deployed in a vehicle, but also at road-side units (RSU), making use of the three pillars that guide a successful fusion strategy: utilisation of standards (with conversions between domains), middlewares to unify multiple ADAS sources, and linkage of data via semantic concepts.