作为实现汽车自动驾驶的关键基础设施,自动驾驶地图能够提供大量准确且语义丰富的数据来帮助用户以更精细的尺度了解周边环境状况,辅助感知、定位、驾驶规划与决策控制,满足智能时代多种高层次的应用需求,进而切实推动我国自动驾驶相关...作为实现汽车自动驾驶的关键基础设施,自动驾驶地图能够提供大量准确且语义丰富的数据来帮助用户以更精细的尺度了解周边环境状况,辅助感知、定位、驾驶规划与决策控制,满足智能时代多种高层次的应用需求,进而切实推动我国自动驾驶相关领域的发展与商业化应用。自动驾驶地图的数据标准作为自动驾驶地图生产应用的指导性规范之一,是自动驾驶地图数据标准化的基准。当前我国自动驾驶相关领域对自动驾驶地图标准化的需求迫切,地图数据标准化已成为业界共同关注的热点问题。为解决自动驾驶地图数据标准化问题,切实推动自动驾驶地图的高效发展,本文对自动驾驶地图的数据标准进行比较研究。首先介绍国内外主流的自动驾驶地图数据标准,然后针对其中4种:导航数据标准(navigation data standard,NDS)、OpenDrive、智能运输系统智能驾驶电子地图数据模型与交换格式和道路高精度电子导航地图数据规范进行分析比较研究,主要从数据结构、数据模型、地图渲染和协同应用4个维度展开,并在各个维度上给出数据标准编制时建议遵循的原则。基于分析比较研究的结果,总结出自动驾驶地图数据标准编制时建议遵循的原则。通过对自动驾驶地图的数据标准进行分析比较研究,归纳总结出数据标准编制时建议遵循的原则,这些建议遵循的编制原则对我国相应规格标准的制定具有借鉴意义。展开更多
Based on the estimating rule of the normal vector angles between two adjacent terrain units, we use the concept of terrain complexity factor to quantify the terrain complexity of DEM, and then the formula of terrain c...Based on the estimating rule of the normal vector angles between two adjacent terrain units, we use the concept of terrain complexity factor to quantify the terrain complexity of DEM, and then the formula of terrain complexity factor in Raster DEM and TIN DEM is deduced theoretically. In order to make clear how the terrain complexity factor ECF and the average elevation h affect the accuracy of DEM terrain representation RMSEEt, the formula of Gauss synthetical surface is applied to simulate several real terrain surfaces, each of which has different terrain complexity. Through the statistical analysis of linear regression in simula- tion data, the linear equation between accuracy of DEM terrain representation RMSEEt, terrain complexity factor ECF and the average elevation h is achieved. A new method is provided to estimate the accuracy of DEM terrain representation RMSEEt with a certain terrain complexity and it gives convincing theoretical evidence for DEM production and the corresponding error research in the future.展开更多
文摘作为实现汽车自动驾驶的关键基础设施,自动驾驶地图能够提供大量准确且语义丰富的数据来帮助用户以更精细的尺度了解周边环境状况,辅助感知、定位、驾驶规划与决策控制,满足智能时代多种高层次的应用需求,进而切实推动我国自动驾驶相关领域的发展与商业化应用。自动驾驶地图的数据标准作为自动驾驶地图生产应用的指导性规范之一,是自动驾驶地图数据标准化的基准。当前我国自动驾驶相关领域对自动驾驶地图标准化的需求迫切,地图数据标准化已成为业界共同关注的热点问题。为解决自动驾驶地图数据标准化问题,切实推动自动驾驶地图的高效发展,本文对自动驾驶地图的数据标准进行比较研究。首先介绍国内外主流的自动驾驶地图数据标准,然后针对其中4种:导航数据标准(navigation data standard,NDS)、OpenDrive、智能运输系统智能驾驶电子地图数据模型与交换格式和道路高精度电子导航地图数据规范进行分析比较研究,主要从数据结构、数据模型、地图渲染和协同应用4个维度展开,并在各个维度上给出数据标准编制时建议遵循的原则。基于分析比较研究的结果,总结出自动驾驶地图数据标准编制时建议遵循的原则。通过对自动驾驶地图的数据标准进行分析比较研究,归纳总结出数据标准编制时建议遵循的原则,这些建议遵循的编制原则对我国相应规格标准的制定具有借鉴意义。
基金Supported by Innovation Program of Shanghai Municipal Education Commission (No.10ZZ25)the Key Laboratory of Geo-informatics of State Bureau of Surveying and Mapping (No.200914)
文摘Based on the estimating rule of the normal vector angles between two adjacent terrain units, we use the concept of terrain complexity factor to quantify the terrain complexity of DEM, and then the formula of terrain complexity factor in Raster DEM and TIN DEM is deduced theoretically. In order to make clear how the terrain complexity factor ECF and the average elevation h affect the accuracy of DEM terrain representation RMSEEt, the formula of Gauss synthetical surface is applied to simulate several real terrain surfaces, each of which has different terrain complexity. Through the statistical analysis of linear regression in simula- tion data, the linear equation between accuracy of DEM terrain representation RMSEEt, terrain complexity factor ECF and the average elevation h is achieved. A new method is provided to estimate the accuracy of DEM terrain representation RMSEEt with a certain terrain complexity and it gives convincing theoretical evidence for DEM production and the corresponding error research in the future.
