交差点における自動運転車両のためのレーン地図作成法の研究

抄録

Recently， the technological development of automated driving of automobiles are carried out actively. Cartographic companies are developing high precision 3D maps including traffic lane maps. A traffic lane map consists of sequences of points expressing centers of lane markings, which can be used as the target paths for automated vehicles. However, since lane markings are not painted at intersections, traffic lane maps based on lane markings cannot be developed at intersections. Hence, this study proposes an automatic designing method of virtual traffic lane at intersections, which do not have lane markings. To evaluate validity of the proposed method, some of the designed virtual traffic lanes are compared with trajectories of human drivers. The result of comparison indicates that the virtual traffic lanes designed by proposed method are similar to the vehicle trajectories by human drivers, leading to a conclusion that the proposed method is valid and effective.