一种高精地图道路三维线形测量方法

doi:10.13474/j.cnki.11-2246.2018.0382

测绘通报 ›› 2018, Vol. 0 ›› Issue (12): 46-51.doi: 10.13474/j.cnki.11-2246.2018.0382

一种高精地图道路三维线形测量方法

罗文婷, 李林

福建农林大学交通与土木工程学院, 福建福州 350000

收稿日期:2018-05-19 修回日期:2018-09-17 出版日期:2018-12-25 发布日期:2019-01-03
作者简介:罗文婷(1983-),女,博士,讲师,主要研究方向为道路检测、智能交通。E-mail:000Q816011@fafu.edu.cn
基金资助:
国家重点研发计划项目（2018YFB120181）；福建省自然科学基金（2017J01682）；国家自然科学基金（51608123）

The 3D Roadway Alignment Measurement for High Definition Map

LUO Wenting, LI Lin

School of Transportation and Civil Engineering, Fujian Agriculture and Forestry University, Fuzhou 350000, China

Received:2018-05-19 Revised:2018-09-17 Online:2018-12-25 Published:2019-01-03

摘要/Abstract

摘要： 高精地图是自动驾驶不可或缺的一部分，是实现智慧交通的前提基础。本文利用线扫激光系统（LiDAR）和惯导系统（INS）高效采集道路线形轨迹及路面激光点云数据，提出了一套能消除车载设备必然缺陷的道路三维线形要素自动计算、校正方法。利用膨胀腐蚀几何形态学操作算法及改进Canny边缘检测算法，识别定位路面车道边缘线及提取车道中心线轨迹。通过线性拟合算法、弦线支距法定位圆直/直圆点、计算圆曲线半径。利用LiDAR采集的路面横剖线数据及双边滤波算法对道路坡度信息进行计算校正。最后，以福州市浦上大桥互通式立交为例，绘制三维高精地图。验证结果表明，本文方法在圆直/直圆点定位及圆曲线半径测量的误差分别为2.97%、2.54%、1.16%；横纵坡度与真实值对比的Dunnett试验，P值分别为0.631、0.945，具有较高的准确度，为自动驾驶奠定了数据基础。

关键词: 三维高精地图, 互通式立交, 线扫激光系统, 惯导系统, 自动驾驶

Abstract: 3D high definition (HD) map is a critical part of driverless systems and a basis of intelligent transportation. This study collects road alignment data by LiDAR system and INS, and provides a series of algorithms for roadway alignments extraction and calibration, which can eliminate the impacts of vehicle vibration and wandering. The lane markings are identified and positioned based on dilation and erosion operation and Canny edge detection. Based on the lateral position of lane marking the center line of the lane is obtained. The PT and PC are detected by linear fitting analysis, and curve radii is calculated using chord offset method. The cross slope is calibrated by transverse profile data, and the longitudinal grade is calibrated by bilateral filtering algorithm. This study provides a case study of 3D HD maps creation for Pushang grade-separated interchanges on Fuzhou. The validation test results show that the errors of PT detection, PC detection and curve radii measurement are 2.97%, 2.54%, and 1.16% respectively. The P-values for validation tests of cross slope and longitudinal grade measurement are 0.631 and 0.945 respectively based on Dunnett's test. It implies that the proposed methods have high accuracy on roadway alignment measurement. This study provides data basis for driverless system.

Key words: 3D high definition map, grade-separated interchanges, LiDAR system, inertial navigation system, driverless system

中图分类号:

罗文婷, 李林. 一种高精地图道路三维线形测量方法[J]. 测绘通报, 2018, 0(12): 46-51.

LUO Wenting, LI Lin. The 3D Roadway Alignment Measurement for High Definition Map[J]. 测绘通报, 2018, 0(12): 46-51.

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一种高精地图道路三维线形测量方法

The 3D Roadway Alignment Measurement for High Definition Map

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