Abstract
Abstract. High Definition Map (HD Map) is one of the essential components for autonomous driving systems. The HD Map helps localization, detection, prediction and planning of autonomous driving cars in combination with GNSS and IMU sensors. A lot of map providers and major car manufactures have been trying the development of efficient ways to create and update HD Maps with centimeter-level precision. However, there are no open standard ways well-established to produce HD Map at the present time. Since 2013, we have been being engaged in the research projects and actual production projects on the creation of HD Maps. This paper introduces practical knowledge on five key steps of our large-scale production lines for HD Map creation, which are 1) Mobile Mapping System (MMS) survey, 2) 3D plotting, 3) Feature attributes editing and road network topology building, 4) Format conversion and 5) Quality assurance.
Highlights
Autonomous driving system has been attracting a lot of attention from around the world as one of the fields of strategies of economic growth these days
The topology creation is the essential part for building the seamless road network in the HD Map creation
We add different rules for different layers depending on the spatial relationships that are required and defined by the clients for monitoring the road layers that participate in the topology
Summary
Autonomous driving system has been attracting a lot of attention from around the world as one of the fields of strategies of economic growth these days. Japan has developed and revised Public-Private ITS Initiative/Roadmaps five times and will continue to pursue the objectives. The recognition is implemented by sensors equipped on the autonomous driving car, which are Light Detection and Ranging (LiDAR), radar, camera and GNSS/ IMU. Those sensors measure the inter-vehicular distance, and collect the situation of pedestrians and traffic information in the surrounding areas. The judgement including detection, prediction and planning needs the self-localization based on the sensors embedded on the car and HD Map, which is one of the key information to decide the behaviour of the autonomous driving car. The HD Map helps localization, detection, prediction and planning of autonomous driving cars in combination with GNSS and IMU sensors.
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