Evaluation of a mapping strategy based on smooth arc splines for different road types

Brummer, Stephan; Janda, Florian; Maier, Georg; Schindler, Andreas

doi:10.1109/itsc.2013.6728227

Cited by 10 publications

(5 citation statements)

References 12 publications

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“…An important number of map-related works for autonomous vehicles have been presented in the last decade. They range map-based localisation and navigation [12], [13], acquisition, filtering and optimization techniques for high quality maps [14] or road modelling strategies [15]. However, not many combine smooth road geometry models and map-based advanced driving assistance systems (ADAS), whose state of the art is summarized below.…”

Section: Related Workmentioning

confidence: 99%

Self-Generated OSM-Based Driving Corridors

2019

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Finding the boundaries of the drivable space is a key to the development of any advanced driver assistance systems with automated driving functions. A common approach found in the literature is to combine the information of digital maps with multiple on-board sensors for building a robust and accurate model of the environment from which to extract the navigable space. In this sense, the digital map is the crucial component for relating the location of the vehicle and identifying the different road features. This paper presents an automatic procedure for generating driving corridors from OpenStreetMap. The proposed method expands the original map representation, replacing polylines by polynomial-based roads, whose sections are defined using cubic Bézier curves. All curves are automatically adjusted from the original road description, thus generating an efficient and accurate road representation without human intervention. Finally, the driving corridors are generated as a concatenation of the modified road sections along a planned route. The proposed approach has been validated in a peri-urban environment, for which corridors where successfully generated in all cases.

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Section: Related Workmentioning

confidence: 99%

Self-Generated OSM-Based Driving Corridors

2019

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“…Several researchers have studied how to represent road maps efficiently while maintaining their high usability in practical applications such as autonomous driving. Several studies have been conducted on the representation of a lane-level road map using polygons [21][22][23][24], clothoids [14,25], splines [26][27][28][29] and piecewise polynomials [30].…”

Section: Related Workmentioning

confidence: 99%

Real-Time Road Lane Detection in Urban Areas Using LiDAR Data

Jung

Bae

2018

Electronics

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The generation of digital maps with lane-level resolution is rapidly becoming a necessity, as semi- or fully-autonomous driving vehicles are now commercially available. In this paper, we present a practical real-time working prototype for road lane detection using LiDAR data, which can be further extended to automatic lane-level map generation. Conventional lane detection methods are limited to simple road conditions and are not suitable for complex urban roads with various road signs on the ground. Given a 3D point cloud scanned by a 3D LiDAR sensor, we categorized the points of the drivable region and distinguished the points of the road signs on the ground. Then, we developed an expectation-maximization method to detect parallel lines and update the 3D line parameters in real time, as the probe vehicle equipped with the LiDAR sensor moved forward. The detected and recorded line parameters were integrated to build a lane-level digital map with the help of a GPS/INS sensor. The proposed system was tested to generate accurate lane-level maps of two complex urban routes. The experimental results showed that the proposed system was fast and practical in terms of effectively detecting road lines and generating lane-level maps.

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“…In order to ensure smoothness, some researchers use clothoids to connect a straight line and an arc in order to represent a lane line [11]. However, one drawback of defining clothoids [12,13] using the Fresnel integral is the huge workload of mapping calculation and operation; therefore, this method was not pursued further in this study [4]. The curve constructed using segment polynomials can be used to approximate real lane lines.…”

Section: Introductionmentioning

confidence: 99%

An Autonomous Storage Optimization LRM Generation Strategy Based on Cascaded NURBS

et al. 2022

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Automatic control of intelligent vehicles depends heavily on accurate lane-level location information. The traditional digital map cannot meet the automatic driving requirements, and it is very difficult for lane-level road maps (LRMs) to achieve a good balance between the representation accuracy and data storage volume. To tackle this problem, we obtain the recursive definition of a lane line by analyzing road lanes using the fractal geometry theory. Subsequently, we construct a recursive feedback system and model it. On this basis, an autonomous storage optimization LRM generation strategy based on cascaded NURBS is devised. According to the input data density, this framework generates an LRM with the minimum data storage volume within the error constraint. It is mainly composed of two modules: (1) a random fractal and (2) an adaptive iteration memory optimizer, based on cascaded NURBS error feedback. First, the whole lane is divided into several meta lane line modules. Second, data sampling/interpolation is carried out iteratively according to the NURBS fitting error and symmetry of road geometry. In this way, the storage space used to store lane lines and other information is automatically optimized. Last, a simulation experiment is carried out by using a dataset obtained from a park. The simulation results show that the proposed method can achieve high accuracy and high storage efficiency. Under the constraint of a 0.1 m curve fitting error, the average memory demand of the lane line elements is less than 2.4 bytes/m.

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Evaluation of a mapping strategy based on smooth arc splines for different road types

Cited by 10 publications

References 12 publications

Self-Generated OSM-Based Driving Corridors

Self-Generated OSM-Based Driving Corridors

Real-Time Road Lane Detection in Urban Areas Using LiDAR Data

An Autonomous Storage Optimization LRM Generation Strategy Based on Cascaded NURBS

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