高精地图路口构建与模拟:shapefile到OpenDRIVE的转换制图

doi:10.13474/j.cnki.11-2246.2025.0620

测绘通报 ›› 2025, Vol. 0 ›› Issue (6): 115-122.doi: 10.13474/j.cnki.11-2246.2025.0620

• 学术研究 • 上一篇

高精地图路口构建与模拟:shapefile到OpenDRIVE的转换制图

应申¹, 邱牧原¹, 王润泽¹, 何山¹, 蒋跃文¹, 白轶多²

1. 武汉大学资源与环境科学学院, 湖北武汉 430079;
2. 重庆市测绘科学技术研究院, 重庆 400021

收稿日期:2024-11-14 发布日期:2025-07-04
作者简介:应申(1979—),男,博士,教授,研究方向为高精地图、3DGIS。E-mail:shy@whu.edu.cn
基金资助:
湖北省科技攻关项目(2023BAA017-3);国家自然科学基金(42471479);部省合作项目(2024ZRBSHZ151)

Construction and simulation of intersections in high-definition maps: conversion and mapping from shapefile to OpenDRIVE

YING Shen¹, QIU Muyuan¹, WANG Runze¹, HE Shan¹, JIANG Yuewen¹, BAI Yiduo²

1. School of Resource and Environmental Sciences, Wuhan University, Wuhan 430079, China;
2. Chongqing Institute of Surveying and Mapping Science and Technology, Chongqing 400021, China

Received:2024-11-14 Published:2025-07-04

摘要/Abstract

摘要： 高等级自动驾驶的实现一般需要丰富的真实地图数据帮助智能网联车辆进行模拟测试与在环测试。Shapefile (SHP)作为测绘采集数据的标准格式,与高精地图存在较大差异,无法满足自动驾驶场景模拟的需求。为充分利用现有的测绘数据构建高精地图场景,本文以道路网中最复杂的路口结构为例,提出了SHP到OpenDRIVE的转换制图,建立了完整的路口要素模型,并对OpenDRIVE进行扩充,明确了SHP到OpenDRIVE的要素映射关系;为进一步验证该方法的有效性,在重庆真实路口数据的基础上,实现了基于转换制图的高精地图路口场景构建和路口相位、车辆行驶的仿真,为构建高精地图的探索与实践提供了一条可供参考的新路径。

关键词: shapefile, OpenDRIVE, 高精地图, 路口, 要素映射, 模拟仿真

Abstract: To achieve high-level autonomous driving, sufficient real map data are required to assist in simulation testing and in-the-loop testing of intelligent connected vehicles(ICV). Shapefile (SHP) as the standard format for surveying and mapping data collection, exhibits significant differences from high-definition (HD) maps and can not meet the needs of autonomous driving scenario simulations. To fully utilize existing surveying and mapping data, this paper takes the most complex intersection structure in the road network as an example and proposes a conversion mapping from SHP to OpenDRIVE. It establishes a comprehensive road intersection element model, extends the OpenDRIVE specification, and clarifies the element mapping relationship between SHP and OpenDRIVE. Based on real shapefile data from Chongqing, this paper realizes the construction of HD map intersection scenarios using the proposed conversion mapping. The effectiveness of this method is verified through scenario simulations, providing a new reference path for the exploration and practice of HD map construction.

Key words: shapefile, OpenDRIVE, high-definition map, road intersection, elemental mapping, simulation

中图分类号:

P282

应申, 邱牧原, 王润泽, 何山, 蒋跃文, 白轶多. 高精地图路口构建与模拟:shapefile到OpenDRIVE的转换制图[J]. 测绘通报, 2025, 0(6): 115-122.

YING Shen, QIU Muyuan, WANG Runze, HE Shan, JIANG Yuewen, BAI Yiduo. Construction and simulation of intersections in high-definition maps: conversion and mapping from shapefile to OpenDRIVE[J]. Bulletin of Surveying and Mapping, 2025, 0(6): 115-122.

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高精地图路口构建与模拟:shapefile到OpenDRIVE的转换制图

Construction and simulation of intersections in high-definition maps: conversion and mapping from shapefile to OpenDRIVE

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