Development of the Description Method to Road Linear Models for Road Map Database by using Vehicle Trajectory

Abstract

For practical use of autonomous driving vehicles, technical development has been promoted. And the systems are planned to use a road map data in addition to sensors information to autonomous driving system. In ZENRIN Co., the road map data has been studied the method of obtaining road curvatures using a vehicle trajectory that was measured by using a mobile mapping system. However, calculated curvatures include fluctuation component because of wobbles caused by vehicle characteristics and road geometry. So, this study proposed the description method to obtain curvatures without fluctuation component. The proposed method consists of two processes. The first process estimate curvature-changing-points. And in the second process, curvature changing points are moved exploratory so that a maximum deviation between a vehicle trajectory and a generated trajectory from estimated curvature-changing-points is minimized. In order to investigate the appropriateness of the proposed method, it was verified in different scenes. As a result, the proposed method was confirmed that is possible to obtain non-fluctuation curvatures within an allowable error in the all scenes.