MATEC Web Conf.
Volume 124, 20172017 6th International Conference on Transportation and Traffic Engineering (ICTTE 2017)
|Number of page(s)||5|
|Section||Traffic Planning and Management|
|Published online||29 September 2017|
Design of a Multi-layer Lane-Level Map for Vehicle Route Planning
State Key Laboratoryof Automotive Safety and Energy, Collaborative Innovation Center of Intelligent New Energy Vehicle, Department of Automotive Engineering, Tsinghua University, Beijing 100084, China
With the development of intelligent transportation system, there occurs further demand for high precision localization and route planning, and simultaneously the traditional road-level map fails to meet with this requirement, by which this paper is motivated. In this paper, t he three-layer lane-level map architecture for vehicle path guidance is established, and the mathematical models of road-level layer, intermediate layer and lane-level layer are designed considering efficiency and precision. The geometric model of the lane-level layer of the map is characterized by Cubic Hermite Spline for continuity. A method of generating the lane geometry with fixed and variable control points is proposed, which can effectively ensure the accuracy with limited num ber of control points. In experimental part, a multi-layer map of an intersection is built to validate the map model, and an example of a local map was generated with the lane-level geometry.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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