Aligning Roadside MAP Topology with the Vehicle's HD-Map and Localization Stack

The reference-frame reconciliation problem: RSU-published MAP lane geometry is expressed in absolute WGS84 coordinates, while the vehicle reasons in a relative HD-map frame — software must bridge the two without introducing lane-assignment errors.

Solving the WGS84-to-Local-Frame Transform Under GNSS Uncertainty

The V2I service does not trust raw GNSS latitude/longitude for lane assignment. Instead, it uses the vehicle's HD-map-corrected pose — fused from GNSS, wheel odometry, and lane-marking perception — as the anchor, then reprojects the MAP message's lane polylines into that corrected frame before any geometric comparison is made.

Intersection Movement Assist: Rejecting Unsafe Left-Turn and Crossing Trajectories

Using the fused lane graph, the software projects the vehicle's candidate turn trajectory against opposing MAP lane connections carrying a conflicting green phase. If a left-turn maneuver would cross a lane group still showing an active straight-through signal, the Intersection Movement Assist module raises a warning to the planner before the maneuver is committed.

Reference-point transform converting MAP absolute coordinates into the vehicle's local HD-map frame with sub-meter residual error.
Lane-topology graph matching that associates the vehicle's occupied lane with the correct MAP Lane ID under GNSS uncertainty.
Cross-validation of RSU-published lane connectivity against onboard lane-marking perception before trusting a turn restriction.
Versioned MAP caching so repeat approaches to the same intersection reuse geometry instead of re-parsing every broadcast.

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