高精度デジタル道路地図における分布荷重梁のたわみ曲線を用いた走行レーン設計手法

抄録

In this study,we propose a method to automatically design driving lanes in the section where no lane lines exist, such as intersections, with the intension of using it in the process of producing high-precision digital road maps for automated driving vehicles. The lanes are generated by setting the entrances and exits of intersections based on the location information of landmarks such as curbstones and white lines recorded in the high-precision digital road map, and connecting the entrances and exits using deflection curves of beams to which distributed loads are added to generate travel lanes with smooth curvature changes. The travel lanes generated by the proposed method were compared with the routes in previous studies, and it was confirmed that the curvature change of the continuous curvature lane at the start and end points is smooth.