摘要
导航、驾驶辅助、无人驾驶等技术的不断发展对地图的精细程度提出了更高的要求。常规的道路级地图对于智能交通系统存在很多不足,针对车道级导航等应用的需求,提出了利用全景摄像头、GPS和惯导制作车道级高精细地图的方法。首先提出了车道级高精细地图的分层定义,然后根据地图定义设计了一套方便可行的精确地理数据采集处理方法。高精细地图的细致定义会导致数据量较大,为保证地图相关操作的实时性,引入了数据库管理系统,为大数据量检索提供支持。研究结果表明:给出的高精细地图制作方法具有实用性和优越性。
Maps are required to be more precise and detailed in some cases such as navigation,Advanced Driving Assistance Systems(ADAS)and autonomous vehicle.This paper put forward a method of making lane-level maps with multi-sensors including panoramic camera,Global Position System(GPS)and Inertial Navigation System(INS).Firstly the layered data structure of lane-level precise map was proposed.Then the method of collecting precise geographic data according to the lane-level map definition was presented.The detailed definition of map would lead to larger data size.Database management system was introduced to ensure the real-time performance of map related operations.Results show that this mapping method is practical.4tabs,8figs,10 refs.
出处
《长安大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2015年第S1期274-278,共5页
Journal of Chang’an University(Natural Science Edition)
基金
国家自然科学基金重大研究计划项目(91220301
91120018
91120002)
国家自然科学基金面上项目(61174178
51178268)
国家磁约束核聚变能研究专项(2012GB102002)
关键词
交通工程
高精细地图
车道级
全景图
traffic engineering
precise map
lane-level
panoramic camera
