交叉口安全驾驶区域高精地图生成方法  

High-definition map generation method for safe driving areas at intersections

作　　者：侯翘楚 李必军[1] 张红娟 曹永兴 HOU Qiaochu;LI Bijun;ZHANG Hongjuan;CAO Yongxing(State Key Laboratory of Information Engineering in Surveying,Mapping and Remote Sensing,Wuhan University,Wuhan 430079,China;SAIC Motor R&D Innovation Headquarters,Shanghai 201804,China)

机构地区：[1]武汉大学测绘遥感信息工程国家重点实验室,湖北武汉430079 [2]上汽集团创新研究开发总院,上海201804

出　　处：《测绘学报》2023年第10期1784-1796,共13页Acta Geodaetica et Cartographica Sinica

基　　金：国家重点研发计划(2021YFB2501100)。

摘　　要：高精地图可以为自动驾驶车辆提供精确可靠的全局感知、定位信息,对车辆的决策规划有重要意义,但目前已被提出的高精地图模型普遍对交叉口的可连通区域缺乏合理、有效的几何约束和表达。针对车辆在交叉口的转弯驾驶任务,本文基于交叉口的安全驾驶规则,在保证车辆在交叉口安全通行的前提下,提出一种交叉口安全驾驶区域高精地图的生成方法。本文方法旨在弥补当前高精地图在城市结构化道路场景下交叉口范围内的信息空缺,生成的安全驾驶区域可服务于不同自动化级别的车辆决策规划,提高车辆在交叉口通行的安全性和规范性。最后,利用武汉市真实交叉口数据对本文方法进行了试验验证。试验结果表明,在90%的情况下,本文方法在试验交叉口均能生成交叉口安全驾驶区域,证明了本文方法的合理性和有效性。The high-definition map can provide accurate and reliable global perception and positioning information for autonomous vehicles.Therefore,it is of great significance to vehicle decision planning.However,the proposed high-definition map models generally lack reasonable and effective geometric constraints and expressions on the connected areas of intersections.Aiming at the turning driving task of vehicles at the intersection,on the one hand,based on the safe driving rules at the intersection,on the other hand,to ensure the safe passage of vehicles at the intersection,this paper proposes a method for generating high-definition maps of safe driving areas at intersections.This method aims to make up the information gap in the intersection area of the current high-definition map in the urban structured road scene.The generated safe-driving area can serve for vehicle decision planning of different automation levels and improve the safety and standardization of vehicles passing at intersections.Finally,this paper uses the real intersection data of Wuhan city to verify the proposed method.The experimental results show that in 90%of cases,the proposed method can generate the intersection safe-driving areas at experimental intersections.It proves the rationality and validity of the method in this paper.

关 键 词：高精地图 交叉口 区域约束 安全性 规范性 

分 类 号：P283[天文地球—地图制图学与地理信息工程]