Browse Publications Technical Papers 2020-01-5022
2020-02-24

Lightweight HD Map Construction for Autonomous Vehicles in Non-Paved Roads 2020-01-5022

High definition (HD) maps can provide comprehensive and accurate knowledge of the environment for highly autonomous vehicles. However, HD maps have large data volumes, which pose high demands on data acquisition, analysis, and storage. To balance data volume and map definition between HD maps and low-accuracy road network maps, this paper is focused on the construction of lightweight HD maps for autonomous vehicles running with non-paved roads. Firstly, we introduce the representation of a lightweight HD map which contains several special elements, e.g., operating areas, parking lot, junction, borders, and centerlines, to describe the closed environment. Then, we propose a border generation algorithm and a border expansion algorithm to find the real border of the map and construct the drivable area. Meanwhile, a two-step method is proposed to extract the centerline of the road. An experiment is conducted to demonstrate the effectiveness of the proposed algorithms. The proposed lightweight HD map has less data volume than HD maps and higher precision than low-accuracy road network maps, and can be widely applied to autonomous vehicles working in non-paved roads.

SAE MOBILUS

Subscribers can view annotate, and download all of SAE's content. Learn More »

Access SAE MOBILUS »

Members save up to 18% off list price.
Login to see discount.
Special Offer: With TechSelect, you decide what SAE Technical Papers you need, when you need them, and how much you want to pay.

Due to current capacity constraints, printed versions of our publications - including standards, technical papers, EDGE Reports, scholarly journal articles, books, and paint chips - may experience shipping delays of up to two weeks. We apologize for any inconvenience.
X