1.Beijing University of Civil Engineering and Architecture;2.EMAPGO Technologies (Beijing) Co., Ltd.;3.Beijing Baidu Netcom Science and Technology Co., Ltd.,
China Postdoctoral Science Foundation
用于自动驾驶(Autonomous driving, AD)的高精地图(High-definition maps, HDMs)是AD系统的重要组成部分。HDMs可为AD系统提供高精确的车道线及道路辅助设施的先验数据，而对HDMs的精度评估一直困扰着行业的发展，对其合理的精度评估是一项重要的任务。目前制图领域对普通地图相对精度评估的方法并不完全适用于HDMs。本研究采用基于点集配准和重采样的方法评估车道线的相对精度，并基于相关的真实HDM数据进行实验。即首先对待验证曲线上的点进行拟合采样，然后配准对齐点对，配准完成后再进行重采样，在此基础上完成相对精度计算。所验证的第一组车道线的相对极限误差为15.9cm，小于20cm，满足相对精度要求；其他三组车道线的相对极限误差也满足该要求。结果表明，基于该方法计算的车道线的相对精度比传统方法更准确、更可靠。这对HDM产品的质量控制有一定的影响，也为HDM的精度评估提供理论依据和借鉴。
High-definition maps (HDM) for autonomous driving (AD) are an important component of AD systems. HDM can provide highly accurate prior data of lane lines and road support facilities for AD systems, but the accuracy evaluation of HDM has been troubled by the development of the industry, so it is an important task to evaluate the accuracy of HDM reasonably. The current methods for relative accuracy evaluation of general maps in the field of mapping are not fully applicable to HDMs. In this study, a method based on point set alignment and resampling is used to evaluate the relative accuracy of lane lines, and experiments are conducted based on relevant real HDM data. That is, the points on the verification curve are fitted and sampled first, then the aligned point pairs are registered, and then resampling is carried out after registration. On this basis, the relative accuracy is calculated. The relative limit error of the verified first group of lane lines is 15.9cm, which is less than 20cm and meets the relative accuracy requirements; the relative limit error of the other three groups of lane lines also meets this requirement. This results show that the relative accuracy of the calculated lane lines based on this method is more accurate and reliable than that of the traditional method, especially the lane lines containing obvious curves. This has a certain influence on the quality control of HDM products, and also provides a theoretical basis and reference for the accuracy evaluation of HDM.
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