Abstract: High precision maps play a critical role in scenarios such as location finding, auto-navigation, and even autonomous driving. This paper classifies and summarizes the existing high precision mapping methods, and points out the problems of the existing mapping methods: the low efficiency of mapping, and no obstacle avoidance, which leads to the automatic marking of virtual lane lines in intersections, but it is not available in practice. Aiming at the problems of existing mapping methods, this paper designs a virtual lane automatic mapping method which can avoid obstacles (such as guard booth, traffic circle, etc.) in intersections. The virtual lane lines in several intersections in Beijing and Shanghai are extracted automatically, and the accuracy of the first automatic drawing extraction is recorded. According to the experimental results, it is proved that the method can be applied to various intersections such as cross, X-shaped, Y-shaped, T-shaped, and so on, and the virtual lane lines automatically marked can avoid obstacles in intersections, which can meet the requirements of automatic lane lines extraction in most intersections. Therefore, this method can meet the expected goal of automatic mapping of virtual lane lines in intersections. Through the automatic mapping method, the lane lines in intersections can be marked automatically and quickly, and the efficiency of the cartographers is greatly improved.

Key words: high precision map, automatic mapping, mapping efficiency, virtual lane, avoid obstacle