高精地图道路交叉口拓扑连接问题的分析方法与实践  

Analysis methods and practice of topological connection problem of road intersections in high definition maps

作　　者：李月华 LI Yuehua(Beijing Huawei Digital Technology Co.,Ltd.,Beijing 100095,China)

机构地区：[1]北京华为数字技术有限公司,北京100095

出　　处：《测绘通报》2024年第4期150-155,共6页Bulletin of Surveying and Mapping

摘　　要：随着高精度地图数据在自动驾驶行业中的广泛应用,针对自动驾驶行业高精度地图道路交叉口在应用过程中存在拓扑连接的问题,本文结合自动驾驶项目,提出了一种基于不同道路场景特征快速发现道路交叉口拓扑连接问题的逻辑算法。采用道路交叉口内部连接算法,能较好地识别出道路交叉口各类遗漏连接的场景,实现了对大部分场景的有效识别和防护。基于几个城市地图数据的试验结果表明,本文的逻辑算法不仅可以快速有效地挖掘出道路交叉口内拓扑连接问题,还能提前识别出试验室仿真和实车测试因为拓扑连接问题造成的地图断点问题。研究结果可以应用到自动驾驶领域的地图质检、仿真、测试等工序内,减少了自动驾驶降级次数,提升了用户体验,对后续自动驾驶道路交叉路口技术改进和感知能力提升有一定的借鉴意义。With the widespread application of high-definition map data usage is increasingly popular in the autonomous driving industry.This paper proposes a logical algorithm based on different road scene features to quickly identify road intersection topology connection problems for high-precision map road intersections applications in the autonomous driving industry.By using the internal connection algorithm of road intersections,various scenarios of missing connections at road intersections can be identified,resulting in effective recognition and protection for most scenarios.Experimental results based on multiple city-map data show that the logical algorithm proposed in this article is both rapid and effectively for identifying topological connection problems within road intersections,This algorithm also preventively identifies topological connection breakpoints caused by topological connection mismatch between laboratory simulation and realistic vehicle testing.The research shows promising applications on both map quality inspection,simulation,testing and other processes in the field of autonomous driving,through reducing the number of autonomous driving downgrades and improving user experience.The experimental results provides opportunities for further improvement on autonomous driving technology by solving road intersection problems and refining vehicle perception.

关 键 词：高精度地图 HD和SD融合关系 道路交叉口 地图匹配 拓扑连接 

分 类 号：P208[天文地球—地图制图学与地理信息工程]