自动驾驶高精度地图特征分析及发展展望  

Feature Analysis and Development Prospect of High Definition Maps for Autonomous Driving

作　　者：杜清运[1,2,5] 况路路 任福 刘江涛[3] 冯昶 陈卓宁 张浡聪 郑康[1,5] 李智程 DU Qingyun;KUANG Lulu;REN Fu;LIU Jiangtao;FENG Chang;CHEN Zhuoning;ZHANG Bocong;ZHENG Kang;LI Zhicheng(School of Resources and Environmental Sciences,Wuhan University,Wuhan 430079,China;Key Laboratory of Digital Mapping and Land Information Application,Ministry of Natural Resources,Wuhan 430079,China;Shenzhen Data Management Center of Planning and Natural Resource,Shenzhen 518000,China;Sinomaps Press Co.,Ltd.,Beijing 100054,China;WHU-CICV Data High Definition Map Research Center,Wuhan 430079,China;China Intelligent and Connected Vehicles Data(Beijing)Co.,Ltd.,Beijing 102600,China)

机构地区：[1]武汉大学资源与环境科学学院,武汉430079 [2]自然资源部数字制图与国土信息应用重点实验室,武汉430079 [3]深圳市规划和自然资源数据管理中心,深圳518000 [4]中国地图出版社集团有限公司,北京100054 [5]武汉大学-国汽智图高精地图研究中心,武汉430079 [6]国汽智图(北京)科技有限公司,北京102600

出　　处：《地球信息科学学报》2024年第1期15-24,共10页Journal of Geo-information Science

基　　金：国家自然科学基金项目(42071448)。

摘　　要：智能网联汽车逐渐成为当代智能交通系统的不可或缺的组成部分,而作为智能网联汽车核心要素的自动驾驶高精度地图在推动交通智能化发展方面扮演着至关重要的角色。高精度地图有效地建立了驾驶员、汽车、道路环境、驾驶环境、意义环境和社会环境之间的紧密联系,推动了自动驾驶技术从L0级别逐步演进至L5级别。本文聚焦于智能网联汽车与自动驾驶高精度地图发展的迫切需求,首先对高精度地图的内涵、主流基础数据模型、概念及特点进行了介绍,强调高精度地图是实现智能网联汽车自动驾驶的全新地图数据范式;其次,浅析了高精度地图在全生命周期中的采集、构建、更新、应用、审核和管理等环节中所涉及的感知数据类型多样、地图构建方法多元、众源更新技术多种、地图应用方式多类、地图审核流程智能、地图管理模式创新等多维特征;同时,提出了一种典型的高精度地图众源更新技术路线。针对高精度地图审核当前问题,介绍了一种在线智能审图方法。以高精度地图深圳试点为案例,介绍了其应用现状及探索经验。最后,对高精度地图的发展进行了展望。The advent of intelligent connected vehicles has seamlessly integrated into the fabric of contemporary intelligent transportation systems,emerging as an indispensable and transformative constituent.At the nucleus of this paradigm shift lies the autonomous driving high definition maps,assuming a pivotal role in propelling the evolution of intelligent transportation.The high definition maps,as a core element in intelligent connected vehicles,stand as a linchpin in advancing the development of intelligent transportation systems.Effectively establishing intricate connections among drivers,vehicles,road environments,driving conditions,significant landmarks,and the broader social environment,high definition maps act as a catalyst,propelling autonomous driving technology from Level 0 to Level 5.This article delves into the urgent imperatives steering the progression of intelligent connected vehicles and the critical role played by autonomous driving high definition maps.Beginning with an exploration of the essence,mainstream foundational data models,concepts,and characteristics of high definition maps,the discussion underscores their transformative role as a groundbreaking map data paradigm,crucial for realizing autonomous driving in intelligent connected vehicles.Subsequently,a nuanced analysis unfolds,dissecting the multifaceted characteristics woven into the entire lifecycle of high definition maps.This comprehensive examination spans diverse perceptual data types,encompassing multiple map construction methodologies,a variety of crowd-sourced updating techniques,various map application methods,the inherent intelligence embedded in map auditing processes,and innovative management modalities.Additionally,a prototypical route for high definition maps crowd-sourced updating technology is proposed,elucidating the dynamic landscape of map data refinement.Addressing the current challenges in high definition maps auditing,the study introduces an online intelligent map auditing methodology,providing a promising avenue to navi

关 键 词：智能网联汽车 自动驾驶系统 高精度地图 导航电子地图 众源更新 地理信息 地图审核 人工智能 

分 类 号：U463.6[机械工程—车辆工程] P28[交通运输工程—载运工具运用工程]