Lane Map Creation Method for Intersection using Deflection Curve of a Discrete Element Beam Model

Abstract

In this study, we propose a method for automatically generating driving routes for sections where no parcel lines exist, such as at intersections, in the production of high-precision digital road maps for automated vehicles. For route generation, the entrance and exit points of intersections are set based on recorded location information such as curbstones and white lines, and a driving route with smooth curvature change is generated by connecting the two points using a deflection curve of a beam. The beam deflection curve is calculated as a discrete element beam using a multi-rigid discrete element spring mass model. The generated path was compared with the paths in previous studies, and it was confirmed that the curvature change of the path was smooth and the bulge was small.