Lane-Level Road Network Generation Techniques for Lane-Level Maps of Autonomous Vehicles: A Survey

Ling Zheng, Bijun Li, Bo Yang, Huashan Song and Zhi Lu
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Ling Zheng: State Key Laboratory of Information Engineering in Surveying, Mapping, and Remote Sensing, Wuhan University, Wuhan 430079, China
Bijun Li: State Key Laboratory of Information Engineering in Surveying, Mapping, and Remote Sensing, Wuhan University, Wuhan 430079, China
Bo Yang: State Key Laboratory of Information Engineering in Surveying, Mapping, and Remote Sensing, Wuhan University, Wuhan 430079, China
Huashan Song: Three Gorges Geotechnical Consultants Co., Ltd. Wuhan, Hubei 430074, China
Zhi Lu: State Key Laboratory of Information Engineering in Surveying, Mapping, and Remote Sensing, Wuhan University, Wuhan 430079, China

Sustainability, 2019, vol. 11, issue 16, 1-19

Abstract: Autonomous driving is experiencing rapid development. A lane-level map is essential for autonomous driving, and a lane-level road network is a fundamental part of a lane-level map. A large amount of research has been performed on lane-level road network generation based on various on-board systems. However, there is a lack of analysis and summaries with regards to previous work. This paper presents an overview of lane-level road network generation techniques for the lane-level maps of autonomous vehicles with on-board systems, including the representation and generation of lane-level road networks. First, sensors for lane-level road network data collection are discussed. Then, an overview of the lane-level road geometry extraction methods and mathematical modeling of a lane-level road network is presented. The methodologies, advantages, limitations, and summaries of the two parts are analyzed individually. Next, the classic logic formats of a lane-level road network are discussed. Finally, the survey summarizes the results of the review.

Keywords: lane-level map; lane-level road network; autonomous driving; road geometry extraction; intersection (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2019
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (5)

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