面向自动驾驶的高精地图数据引擎模型

High precision map data engine model for autonomous driving

高精地图为自动驾驶定位、感知、规控等模块提供诸多超感知范围的车道级地图要素,是L3及以上自动驾驶中不可或缺的一部分。高精地图精度高且数据量大,而通常自动驾驶车端算力有限,因此离不开高精地图数据引擎对要素的快速解析与动态提取。本文提出了一种面向自动驾驶的高精地图数据引擎模型,通过对高精地图进行数据转换、要素获取、地图匹配、路网构建、数据播发、车载以太网传输、路网重建与应用适配,持续高效地为自动驾驶提供所需的静态与动态要素信息,以满足车辆在行驶过程中对高精地图的实时需求。

High precision map provides many lane level map elements beyond the sensing range for autonomous driving positioning,perception,planning and control modules,It is an indispensable part of L3 and above autonomous driving.High precision map has high precision and large data volume,but the computing power of the autonomous driving vehicle is limited,so it cannot be separated from the rapid analysis and dynamic extraction of the elements by the high precision map data engine.A high precision map data engine model for autonomous driving is proposed.Through the transformation of high precision map data,element acquisition,map matching,road network construction,data broadcasting,on-board Ethernet transmission,road network reconstruction and application adaptation,the static and dynamic element information required by autonomous driving can be continuously and efficiently provided to meet the real-time demand of high precision map during driving.