Design of a Multi-layer Lane-Level Map for Vehicle Route Planning

• Main Authors: Liu Chaoran, Jiang Kun, Yang Diange, Xiao Zhongyang
• Format: Article
• Language: English
• Published: EDP Sciences 2017-01-01
• Series: MATEC Web of Conferences
• Online Access: https://doi.org/10.1051/matecconf/201712403001

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.