A Road Plane Geometry Analytical Model Based on Mileage Parameter

doi:10.13474/j.cnki.11-2246.2017.0083

测绘通报 ›› 2017, Vol. 0 ›› Issue (3): 52-57,90.doi: 10.13474/j.cnki.11-2246.2017.0083

Previous Articles Next Articles

A Road Plane Geometry Analytical Model Based on Mileage Parameter

TAO Lu¹, ZHU Dunyao^1,2,3, WANG Junde^2,3, ZHANG Pan³

1. GNSS Research Center, Wuhan University, Wuhan 430079, China;
2. Intelligent Transportation Systems Center, Wuhan University of Technology, Wuhan 430063, China;
3. Wuhan KOTEI Informatics Co. Ltd., Wuhan 430073, China

Received:2016-06-23 Revised:2017-01-15 Online:2017-03-25 Published:2017-03-31

Abstract

Abstract: With the development of active safety technology and autonomous driving technology, high precision map has been used in many applications. A road geometry analytical model based on mileage parameter was proposed for high precision map. By constructing the orthogonal polynomials based on the data set and using restricted least-square method, the geometric description parameters were dynamically calculated based on maximum fitting error. The model can precisely describe the road geometry, and minimize the data redundancy. It can also ensure the continuity and smoothness of the road geometry. The model was used for high precision map production of 120 km highway. Taking three typical roads as examples, the advantages of proposed model were validated.

Key words: road geometry, analytical model, high precision map, orthogonal polynomials, restricted least-square method

CLC Number:

P208

TAO Lu, ZHU Dunyao, WANG Junde, ZHANG Pan. A Road Plane Geometry Analytical Model Based on Mileage Parameter[J]. 测绘通报, 2017, 0(3): 52-57,90.

References

[1] 陈玉敏, 龚健雅, 史文中. 多尺度道路网的距离匹配算法研究[J]. 测绘学报, 2007, 36(1):84-90.
[2] 杨必胜, 栾学晨. 利用概率松弛法的城市路网自动匹配[J]. 测绘学报, 2012, 41(6):933-939.
[3] 唐炉亮, 杨必胜, 徐开明. 基于线状图形相似性的道路数据变化检测[J]. 武汉大学学报(信息科学版), 2008, 33(4):367-370.
[4] 张韵, 李清泉, 曹晓航, 等. 一种道路网信息几何差异检测算法[J]. 测绘学报, 2008, 37(4):0-520.
[5] 张蕊. 考虑道路几何特征的车速自适应控制方法研究[D]. 武汉:武汉理工大学, 2014.
[6] TAO Z, BONNIFAIT P, FREMONT V, et al. Mapping and Localization Using GPS, Lane Markings and Proprioceptive Sensors[C]//2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).[S.l.]:IEEE, 2013:406-412.
[7] NEDEVSCHI S, POPESCU V, DANESCU R, et al. Accurate Ego-vehicle Global Localization at Intersections through Alignment of Visual Data with Digital Map[J]. IEEE Transactions on Intelligent Transportation Systems, 2013, 14(2):673-687.
[8] TAO Z, BONNIFAIT P, FREMONT V, et al. Lane Marking Aided Vehicle Localization[C]//201316th International IEEE Conference on Intelligent Transportation Systems-(ITSC).[S.l.]:IEEE, 2013:1509-1515.
[9] LEVINSON J,MONTEMERLO M,THRUN S.Map-based Precision Vehicle Localization in Urban Environments[C]//Robotics:Science and Systems.[S.l.]:IEEE,2007.
[10] GU Y, HSU L T, KAMIJO S. Passive Sensor Integration for Vehicle Self-localization in Urban Traffic Environment[J]. Sensors, 2015, 15(12):30199-30220.
[11] TAKEUCHI E, YOSHIHARA Y, YOSHIKI N. Blind Area Traffic Prediction Using High Definition Maps and LiDAR for Safe Driving Assist[C]//2015 IEEE 18th International Conference on Intelligent Transportation Systems (ITSC).[S.l.]:IEEE, 2015:2311-2316.
[12] CHOI J W, CURRY R, ELKAIM G. Piecewise Bezier Curves Path Planning with Continuous Curvature Constraint for Autonomous Driving[M]//Machine Learning and Systems Engineering.[S.l.]:Springer Netherlands, 2010:31-45.
[13] BAE I,KIM J H,KIM S.Steering Rate Controller Based on Curvature of Trajectory for Autonomous Driving Vehicles[C]//2013 IEEE Intelligent Vehicles Symposium (IV).[S.l.]:IEEE, 2013:1381-1386.
[14] GOODCHILD M F. GIS and Transportation:Status and Challenges[J]. GeoInformatica, 2000, 4(2):127-139.
[15] 王明生, 闫小勇. GIS环境下缓和曲线绘制方法研究[J]. 工程图学学报, 2010(1):156-160.
[16] 姚连璧. 车载GPS道路数据采集与线形参数的计算[J]. 测绘学报, 2002,31(S0):45-49.
[17] 杨轸, 方守恩, 高国武. 基于GPS的道路线形恢复技术的研究[J]. 同济大学学报(自然科学版), 2003, 31(5):567-571.
[18] 颜庆津. 数值分析[M]. 北京:北京航空航天大学出版社, 2006.
[19] 朱伟东. 反求工程中基于几何约束的模型重建理论及应用研究[D]. 杭州:浙江大学, 2007.

A Road Plane Geometry Analytical Model Based on Mileage Parameter

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 4

Recommended Articles

Metrics

Comments

[1]	XIE Hongquan, MEI Xueqin, CAI Dongjian, WANG Yana, LIU Fucheng. Method for extracting urban road regular polygon by using vehicle-mounted LiDAR point cloud data [J]. Bulletin of Surveying and Mapping, 2020, 0(3): 87-90.
[2]	JIA Zhile. Application on large-scale water conservancy projects and BIM construction by FEIMA F200 UAV [J]. 测绘通报, 2019, 0(9): 159-162.
[3]	ZHANG Dan, YU Xiaomin, WANG Haitao. Exploration on the BeiDou high precision service guarantee scheme [J]. 测绘通报, 2019, 0(5): 98-101.
[4]	WANG Miao, XUE Yufei, GE Junxia, GUO Zhaozhong. An improved method for high precision map registration [J]. Bulletin of Surveying and Mapping, 2019, 0(12): 26-29.