自动驾驶高精地图信息交互方法  

An Approach for High Definition Map Information Interaction for Autonomous Driving

作　　者：张焱杰 黄炜[1,2,3] 刘信陶 张丰源 吴杭彬 应申[5] 刘春 ZHANG Yanjie;HUANG Wei;LIU Xintao;ZHANG Fengyuan;WU Hangbin;YING Shen;LIU Chun(Urban Mobility Institute,Tongji University,Shanghai 200092,China;College of Surveying and Geo-Informatics,Tongji University,Shanghai 200092,China;Department of Civil Engineering,Toronto Metropolitan University,Toronto M5B2K3,Canada;Department of Land Surveying and Geo-Informatics,Hong Kong Polytechnic University,Kowloon,Hong Kong 999077,China;School of Resource and Environmental Sciences,Wuhan University.Wuhan 430079,China)

机构地区：[1]同济大学城市交通研究院,上海200092 [2]同济大学测绘与地理信息学院,上海200092 [3]多伦多都会大学土木工程系,加拿大多伦多,M5B2K3 [4]香港理工大学土地测量与地理信息学系,中国香港九龙999077 [5]武汉大学资源与环境科学学院,湖北武汉430079

出　　处：《武汉大学学报（信息科学版）》2024年第4期662-671,680,共11页Geomatics and Information Science of Wuhan University

基　　金：国家重点研发计划(2021YFB2501101);同济大学学科交叉联合攻关项目(2022-5-YB-09)。

摘　　要：高精地图在自动驾驶应用落地的进程中发挥着重要作用,目前大多数研究着眼于高精地图中道路几何结构的高精度表征和道路静态信息的更新。然而,对路网交通中存在的大量且具有时效性的动态信息的相关研究尚有欠缺。从动态信息的内容、数据结构、信息交互3个方面展开,研究高精地图动态信息。对国内外在高精地图数据组织结构和数据标准方面的工作进行整理和分析,提出了一套完整的高精地图动态信息所需涵盖的内容。将自动驾驶车辆车端和高精地图信息系统云端作为信息交互的两大主体,提出在车端、云端不同的组合模式下信息交互的方法,实现高精地图动态信息内容交互。提出的信息交互方法在局部的自动驾驶车辆与高精地图信息系统之间的交互过程中,逐步聚合到最终能够打通全域的高精地图信息数据流,实现高精地图动态信息数据的汇聚和整合,更好地服务和助力自动驾驶汽车在复杂道路环境下的导航决策能力。Objectives:High definition(HD)map plays an important role in autonomous driving.Most existing research focuses on high-resolution mapping in terms of road geometries as well as the updating of static road information in HD map.However,there is still a lack of research on dynamic information in⁃volved in road traffic networks.We focus on enriching the content of HD map in terms of the dynamic infor⁃mation including the dynamic information,it's meta data structure and inforamation interaction.Methods:We propose a comprehensive set of content that HD map need to cover for the dynamic information based on existing work on HD map data organization and data standards.Based on this,combined with cloud ends of HD map systems and vehicle ends of autonomous driving vehicles as two information interaction ter⁃minals,a method for information interaction between cloud ends and vehicle ends under different combina⁃tion modes(vehicle-cloud,vehicle-vehicle,and cloud-vehicle modes)used in HD map information system is proposed to facilitate a timely capture of dynamic information in road environments.Results:(1)The ve⁃hicle-cloud information interaction mode is suitable for self-driving cars.The vehicle collects vehicle dy⁃namic information in real time and uploads it to the cloud of the HD map information system after prepro⁃cessing,so as to realize the sharing of perception information of different vehicles in the road environment on the cloud.(2)The vehicle-to-vehicle information interaction mode is used between different self-driving cars.This mode is mainly aimed at obtaining partially vehicle dynamic information directly through vehicleto-vehicle interaction during driving.(3)The cloud-vehicle information interaction mode is suitable for vehi⁃cles connected to the HD map information system platform.The cloud stores dynamic information,and the vehicle requests the demanding information according to its own needs.Therefore,The HD map informa⁃tion system continuously performs information interaction in three i

关 键 词：高精地图 自动驾驶 动态信息 信息交互 

分 类 号：P208[天文地球—地图制图学与地理信息工程]