iLDM: An Interoperable Graph-Based Local Dynamic Map

@Article {
title = {iLDM: An Interoperable Graph-Based Local Dynamic Map},
journal = {Vehicles},
pages = {42-59},
volume = {4},
keywds = {
local dynamic map; LDM; iLDM; V2X; OpenLABEL; Interoperability; Neo4j; ADAS; graph databases; real-time
}
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.

}
doi = {10.3390/vehicles4010003},
date = {2022-03-01},
}