정밀도로지도를 기반으로한 자율주행용 가상 시뮬레이션 도로 변환방안 (Modeling of Virtual Simulation Road for Autonomous Driving based on HD maps)

서지정보

· 발행기관 : 한국도로학회
· 수록지 정보 : 한국도로학회논문집 / 24권 / 2호 / 41 ~ 51페이지
· 저자명 : 박관, 김도균, 하이더이브라함, 최지향

초록

PURPOSES : This study aimed to develop data conversion of NGII HD maps to OpenDRIVE format for virtual road implementation for autonomous-driving verification.
METHODS : A method of defining the reference line of OpenDRIVE on the centerline of an NGII HD map is proposed. According to the construction characteristics of the NGII HD map, the optimal conversion method through parametric cubic polynomials was used in the form of piecewise and clamped cubic polynomials.
RESULTS : The study focused on curved roads that may cause problems when converting HD map data into OpenDRIVE formats. As a result of data conversion, a reference line was defined to precisely follow the alignment of NGII HD maps drawn based on MMS data, and a lively virtual road was reproduced through road lane width and lane expression.
CONCLUSIONS : A virtual road in the same environment as a real road, which is one of the important factors in verifying autonomous driving technology through virtual driving simulation, was constructed. The piecewise-polynomial normal was 0.008 m on average, and as a result of calculating the distance between the endpoint coordinates of the road object and the endpoint coordinates of the converted road object on the NGII HD map, the difference between the two points was 0.163 m on average. The clamped cubic polynomials normal was observed to be an average of 0.170 m.

영어초록

PURPOSES : This study aimed to develop data conversion of NGII HD maps to OpenDRIVE format for virtual road implementation for autonomous-driving verification.
METHODS : A method of defining the reference line of OpenDRIVE on the centerline of an NGII HD map is proposed. According to the construction characteristics of the NGII HD map, the optimal conversion method through parametric cubic polynomials was used in the form of piecewise and clamped cubic polynomials.
RESULTS : The study focused on curved roads that may cause problems when converting HD map data into OpenDRIVE formats. As a result of data conversion, a reference line was defined to precisely follow the alignment of NGII HD maps drawn based on MMS data, and a lively virtual road was reproduced through road lane width and lane expression.
CONCLUSIONS : A virtual road in the same environment as a real road, which is one of the important factors in verifying autonomous driving technology through virtual driving simulation, was constructed. The piecewise-polynomial normal was 0.008 m on average, and as a result of calculating the distance between the endpoint coordinates of the road object and the endpoint coordinates of the converted road object on the NGII HD map, the difference between the two points was 0.163 m on average. The clamped cubic polynomials normal was observed to be an average of 0.170 m.

참고자료

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