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

doi:10.13474/j.cnki.11-2246.2025.0620

Abstract

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

CLC Number:

P282

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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