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Lane-Level Road Network Generation Techniques for Lane-Level Maps of Autonomous Vehicles: A Survey

by Ling Zheng 1,2, Bijun Li 1,2,*, Bo Yang 1, Huashan Song 3 and Zhi Lu 1
1
State Key Laboratory of Information Engineering in Surveying, Mapping, and Remote Sensing, Wuhan University, Wuhan 430079, China
2
Engineering Research Center for Spatio-Temporal Data Smart Acquisition and Application, Ministry of Education of China, Beijing 100816, China
3
Three Gorges Geotechnical Consultants Co., Ltd. Wuhan, Hubei 430074, China
*
Author to whom correspondence should be addressed.
Sustainability 2019, 11(16), 4511; https://doi.org/10.3390/su11164511
Received: 9 July 2019 / Revised: 16 August 2019 / Accepted: 16 August 2019 / Published: 20 August 2019
(This article belongs to the Special Issue Sustainable and Intelligent Transportation Systems)
Autonomous driving is experiencing rapid development. A lane-level map is essential for autonomous driving, and a lane-level road network is a fundamental part of a lane-level map. A large amount of research has been performed on lane-level road network generation based on various on-board systems. However, there is a lack of analysis and summaries with regards to previous work. This paper presents an overview of lane-level road network generation techniques for the lane-level maps of autonomous vehicles with on-board systems, including the representation and generation of lane-level road networks. First, sensors for lane-level road network data collection are discussed. Then, an overview of the lane-level road geometry extraction methods and mathematical modeling of a lane-level road network is presented. The methodologies, advantages, limitations, and summaries of the two parts are analyzed individually. Next, the classic logic formats of a lane-level road network are discussed. Finally, the survey summarizes the results of the review. View Full-Text
Keywords: lane-level map; lane-level road network; autonomous driving; road geometry extraction; intersection lane-level map; lane-level road network; autonomous driving; road geometry extraction; intersection
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Zheng, L.; Li, B.; Yang, B.; Song, H.; Lu, Z. Lane-Level Road Network Generation Techniques for Lane-Level Maps of Autonomous Vehicles: A Survey. Sustainability 2019, 11, 4511.

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