A generalized data model of high definition maps

doi:10.11947/j.AGCS.2021.20210254

Abstract

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

CLC Number:

P208

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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