Targeting Lane-Level Map Matching for Smart Vehicles: Construction of High-Definition Road Maps Based on GIS

Abstract

The development of smart vehicles has increased the demand for high-definition road maps. However, traditional road maps for vehicle navigation systems are not sufficient to meet the requirements of intelligent vehicle systems (e.g., autonomous driving). The present work comes up with a method of generating high-definition map models based on the geographic information system (GIS). A systematic map construction framework including the road layer, intersection connection layer, and lane layer is proposed based on the GIS database. Specifically, the constrained Delaunay triangular network method is applied to extract road layer network models, which are then used as linear reference networks to construct lane-level road maps. To further examine the feasibility of the proposed framework, a field experiment is then conducted to build a high-definition road map. Furthermore, a lane-level map matching test is conducted in the constructed road map using the trajectory data collected from a probe vehicle. The results show that the proposed method provides an efficient way of extracting lane-level information from urban road networks and can be applied for lane-level map matching with good performance.

Keywords

• high-definition map model
• GIS
• constrained Delaunay triangulation
• lane-level map matching