自 动 驾 驶 高 精 地 图 信 息 交 互 方 法

Translated title of the contribution: An Approach for High Definition Map Information Interaction for Autonomous Driving

Yanjie Zhang, Wei Huang, Xintao Liu, Fengyuan Zhang, Hangbin Wu, Shen Ying, Chun Liu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

6 Citations (Scopus)

Abstract

Objectives: High definition (HD) map plays an important role in autonomous driving. Most existing research focuses on high-resolution mapping in terms of road geometries as well as the updating of static road information in HD map. However, there is still a lack of research on dynamic information in⁃ volved in road traffic networks. We focus on enriching the content of HD map in terms of the dynamic infor⁃ mation including the dynamic information, it's meta data structure and inforamation interaction. Methods: We propose a comprehensive set of content that HD map need to cover for the dynamic information based on existing work on HD map data organization and data standards. Based on this, combined with cloud ends of HD map systems and vehicle ends of autonomous driving vehicles as two information interaction ter⁃ minals, a method for information interaction between cloud ends and vehicle ends under different combina⁃ tion modes (vehicle-cloud, vehicle-vehicle, and cloud-vehicle modes) used in HD map information system is proposed to facilitate a timely capture of dynamic information in road environments. Results: (1) The ve⁃ hicle-cloud information interaction mode is suitable for self-driving cars. The vehicle collects vehicle dy⁃ namic information in real time and uploads it to the cloud of the HD map information system after prepro⁃ cessing, so as to realize the sharing of perception information of different vehicles in the road environment on the cloud. (2)The vehicle-to-vehicle information interaction mode is used between different self-driving cars. This mode is mainly aimed at obtaining partially vehicle dynamic information directly through vehicle-to-vehicle interaction during driving. (3)The cloud-vehicle information interaction mode is suitable for vehi⁃ cles connected to the HD map information system platform. The cloud stores dynamic information, and the vehicle requests the demanding information according to its own needs. Therefore, The HD map informa⁃ tion system continuously performs information interaction in three interaction modes, and updates informa⁃ tion simultaneously, maintaining the freshness of dynamic information and enhancing the robustness of HD map. Conclusions: However, due to the complexity and variability of the road environment, the content of dynamic information interaction we propose can only cover what happens during vehicle driving to a certain extent. For the road information that appears with a small probability,we do not conduct in-depth research, which is also the direction we need to discuss and study in the future.

Translated title of the contributionAn Approach for High Definition Map Information Interaction for Autonomous Driving
Original languageChinese (Simplified)
Pages (from-to)662-671 and 680
JournalWuhan Daxue Xuebao (Xinxi Kexue Ban)/Geomatics and Information Science of Wuhan University
Volume49
Issue number4
DOIs
Publication statusPublished - Apr 2024

Keywords

  • dynamic information
  • high definition map
  • information interaction
  • self-driving

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Earth-Surface Processes

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