基于多传感器的高精度地图生成技术研究

Research on HD Map Generation Technology Based on Multi-sensor

针对高精度地图的生成问题。本文首先阐述了高精度地图的一般性定义,说明自动驾驶对高精度地图的巨大需求,对比分析高精度地图与传统导航地图的区别;然后详细介绍基于多传感器的高精度地图生成技术的数据采集、数据处理、元素识别和人工验证四个环节;最后,建立了以车道为基本单元的包含区域-道路-车道-元素的四级高精度地图拓扑结构。

Aiming at the generation problem of HD map,this paper first elaborates the general definition of high-precision map,explains the huge demand of HD map for autopilot,comparing and analyzing the differences between HD map and traditional navigation map.Then the four steps of data acquisition,data processing,element identification and manual verification based on HD map generation technology of multi-sensor are introduced in detail.Finally,a four-level HD map topology consisting of area-road-carriage-element is built based on lane.