一种新型的城市道路地图匹配方法

doi:10.13474/j.cnki.11-2246.2019.0189

测绘通报 ›› 2019, Vol. 0 ›› Issue (6): 81-84.doi: 10.13474/j.cnki.11-2246.2019.0189

一种新型的城市道路地图匹配方法

王建培, 李必军, 张红娟, 张萍

武汉大学测绘遥感信息工程国家重点实验室, 湖北武汉 430079

收稿日期:2018-09-22 修回日期:2018-11-06 出版日期:2019-06-25 发布日期:2019-07-01
作者简介:王建培(1993-),女,硕士生,主要从事自动驾驶高精度地图研究。E-mail:jpwang@whu.edu.cn
基金资助:
国家自然科学基金（U1764262）；国家自然科学基金面上项目（41671441）；国家自然科学基金重点项目（41531177）

A novel map matching method of urban road

WANG Jianpei, LI Bijun, ZHANG Hongjuan, ZHANG Ping

State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China

Received:2018-09-22 Revised:2018-11-06 Online:2019-06-25 Published:2019-07-01

摘要/Abstract

摘要：

提出了一种充分利用道路交叉口约束的地图匹配方法，并采用低成本的IMU/里程计组合导航系统采集无人驾驶汽车的定位数据，利用开源的OpenStreetMap地图对其进行地图匹配。试验表明，本文算法适用于城市交通环境，并能满足实时解算要求，单点平均耗时0.11 ms，在查全率89%的情况下，匹配准确率可达100%。

关键词: 地图匹配, 航位推算, 道路交叉口, OpenStreetMap(OSM)

Abstract:

The existing map matching method using vertical projection is often difficult to correct the longitudinal error, and the matching effect in the intersection is not good. In this paper, a map matching algorithm is proposed which makes full use of the road constraints at the intersections. We collect the location data of autonomous cars using low-cost integrated navigation method with IMU and odometer,and combine with open source OpenStreetMap for map matching, which breaks the dilemma that the autonomous driving industry is highly dependent on GPS. Experimental results show that the average time of a single point is 0.11 ms, and the proposed method is suitable for urban driving environment and meets the requirement of real-time calculation, and the matching accuracy can reach 100% while the recall rate is 89%.

Key words: map matching, dead reckoning, road intersections, OpenStreetMap (OSM)

中图分类号:

P208

王建培, 李必军, 张红娟, 张萍. 一种新型的城市道路地图匹配方法[J]. 测绘通报, 2019, 0(6): 81-84.

WANG Jianpei, LI Bijun, ZHANG Hongjuan, ZHANG Ping. A novel map matching method of urban road[J]. 测绘通报, 2019, 0(6): 81-84.

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一种新型的城市道路地图匹配方法

A novel map matching method of urban road

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