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http://dx.doi.org/10.12815/kits.2022.21.1.273

Design of Preprocessing Algorithm for HD-Map-based Global Path Generation  

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)
Publication Information
The Journal of The Korea Institute of Intelligent Transport Systems / v.21, no.1, 2022 , pp. 273-286 More about this Journal
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.
Keywords
Autonomous Driving; HD Map; Global Path Planning; Road Network;
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