The Journal of The Korea Institute of Intelligent Transport Systems (한국ITS학회 논문지)

The Korea Institute of Intelligent Transport Systems (한국ITS학회)
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Design of Preprocessing Algorithm for HD-Map-based Global Path Generation

정밀도로지도 기반 전역경로 생성을 위한 전처리 알고리즘 개발

  • Hong, Seungwoo (Graduate School of Automotive Engineering, Kookmin University) ;
  • Son, Weonil (Graduate School of Automotive Engineering, Kookmin University) ;
  • Park, Kihong (Dept. of Automotive Engineering, Kookmin University) ;
  • Kwun, Suktae (Automated Vehicle Center, Korea Automobile Testing and Research Institute) ;
  • Choi, Inseong (Automated Vehicle Center, Korea Automobile Testing and Research Institute) ;
  • Cho, Sungwoo (Automated Vehicle Center, Korea Automobile Testing and Research Institute)
  • 홍승우 (국민대학교 자동차공학전문대학원) ;
  • 손원일 (국민대학교 자동차공학전문대학원) ;
  • 박기홍 (국민대학교 자동차공학과) ;
  • 권석태 (자동차안전연구원 자율주행실) ;
  • 최인성 (자동차안전연구원 자율주행혁신처) ;
  • 조성우 (자동차안전연구원 자율주행실)
  • Received : 2021.12.23
  • Accepted : 2022.01.27
  • Published : 2022.02.28
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Abstract

An HD map is essential in the automated driving of level 4 and above to generate the vehicle's global path since it contains road information and each road's lane information. Therefore, all the road elements in the HD map must be correctly defined to construct the correct road network necessary to generate the global path. But unfortunately, it is not difficult to find various errors even in the most recent HD maps. Hence, a preprocessing algorithm has been developed to detect and correct errors in the HD map. This error detection and correction result in constructing the correct road network for use in global path planning. Furthermore, the algorithm was tested on real roads' HD maps, demonstrating its validity.

자율주행 4단계 이상에서는 차량 스스로가 목적지까지 주행하기 위해 차선 단위의 전역경로를 생성하는 것이 필수적이며, 이를 위해 정밀도로지도 활용에 관한 연구가 활발히 진행되고 있다. 정밀도로지도 기반 전역경로 생성을 위해서는 정확한 링크 정보를 통해 도로 네트워크를 구축하는 것이 필수적인데, 현재 공개된 정밀도로지도는 이 부분의 구현을 어렵게 하는 다양한 오류를 포함하는 것을 볼 수 있다. 이러한 배경을 바탕으로 본 연구에서는 정밀도로지도 기반 전역경로 생성을 위한 링크 오류 개선 및 도로 네트워크 구축에 관한 연구를 수행하였다. 전역경로 생성에 치명적일 수 있는 오류를 검출하고 링크를 포함한 정밀도로지도의 정보들을 활용하여 도로 네트워크를 구축하는 전처리 알고리즘을 개발하였다. 제안하는 방법을 통하여 실제 정밀도로지도로부터 정확한 전역경로를 생성할 수 있는 것을 확인함으로써 본 연구의 유효성을 검증하였다.

Keywords

Acknowledgement

본 연구는 국토교통부/국토교통과학기술진흥원의 지원으로 수행되었음(과제번호 21AMDP-C162182-01)

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