通用化高精地图数据模型

doi:10.11947/j.AGCS.2021.20210254

摘要/Abstract

摘要： 高精地图逐渐成为自动驾驶不可或缺的组成部分，但是其数据模型和表达方式尚未形成统一标准，特别是在生产制作和数据交换阶段，缺乏具备通用性和大规模应用能力的数据模型。针对这一问题，本文分析了当前主流高精地图数据模型NDS、OpenDRIVE和lanelet的优缺点，提出了一种通用化的高精地图数据模型Whu map model。车道模型方面，采用车道组为数据管理单元，由同一路段上的一个或者多个车道组成。车道由车道的左边界线、右边界线、车道中心线、车道属性构成。通过多种常见车道数变化场景下的车道拓扑构建，验证了该模型在表达上的有效性和稳健性。交通标志物模型方面，定义了地面标志物和交通标志牌，分别表达形状、类型、语义以及与道路、车道的关联关系等内容。通过大规模数据制作、NDS和OpenDRIVE格式编译，以及基于ADASIS V3协议的电子地平线应用试验，验证了Whu map model模型的实用性和有效性。Whu map model可以作为通用的交换规格，也可以应用到高精地图生产制作的各个阶段，同时向下兼容、易于扩展，有助于实现高精地图数据模型标准化，从而推进高精地图的规模化生产和应用。

关键词: 高精地图, 数据模型, 车道模型, 自动驾驶, 电子地平线

Abstract: HD (high definition) maps have gradually become an indispensable part of autonomous driving, but there is no unified data model and standardize way of description, especially in the map production and data exchange stages. In response to this problem, the paper first analyzes the advantages and disadvantages of the current HD map data models such as NDS, OpenDRIVE and LaneLet, and then proposes a generalized data model for HD maps called Whu map model. In terms of the lane model, lane groups are used as data management units, which composed of one or several lanes on the same road section. And the lane is composed of the left lane divider, the right lane divider, the lane centerline, and lane attributes. Through the lane topology construction on some scenes where lane number changes, the validity and robustness of the lane model are verified. In terms of the data model of traffic facilities, the road marking model and traffic sign model are defined. The geometry, type, semantic information, and association with roads and lanes are the main contents described. Finally, through large-scale data production, compilation to NDS and OpenDRIVE format, and electronic horizon application experiments based on the ADASIS V3 protocol, the usefulness and effectiveness of the data model are verified. Whu map model can be used as a general exchange format, and can also be applied to all stages of HD map production. At the same time, it is backward compatible and easy to be extended. All of these help to realize the standardization of the HD map data model, thereby promoting the large-scale production and application of HD maps.

Key words: high definition map, data model, lane model, autonomous driving, electronic horizon

中图分类号:

P208

张攀, 刘经南. 通用化高精地图数据模型[J]. 测绘学报, 2021, 50(11): 1432-1446.

ZHANG Pan, LIU Jingnan. A generalized data model of high definition maps[J]. Acta Geodaetica et Cartographica Sinica, 2021, 50(11): 1432-1446.

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