Abstract
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 sequence of points which is based on lane markings. However, since lane markings are not painted at intersections, traffic lane maps cannot be designed there. The previous study proposed a designing method of path by using arc and straight line, and vehicle driving simulations are employed in order to smooth the curvature change. However, a curvature changes while vibrating. Thus, this study proposes a designing method of lane map at intersections by using clothoid curve. As a result, the virtual traffic lanes can be designed by clothoid curve, and its curvature is expressed without vibration.
