A new lane-level road modeling method based on cardinal spline is proposed for the special intersections which are covered by vegetation or artificial landscape in their central regions.First,cardinal spline curves ar...A new lane-level road modeling method based on cardinal spline is proposed for the special intersections which are covered by vegetation or artificial landscape in their central regions.First,cardinal spline curves are used to fit the virtual lanes inside special intersections,and an initial road model is established using a series of control points and tension parameters.Then,the progressive optimization algorithm is proposed to determine the final road model based on the initial model.The algorithm determines reasonable control points and optimal tension parameters according to the degree of road curvature changes,so as to achieve a balance between the efficiency and reliability of the road model.Finally,the proposed intersection model is verified and evaluated through experiments.The results show that this method can effectively describe the lane-level topological relationship and geometric details of this kind of special intersection where the central area is covered by vegetation or artificial landscape,and can achieve a good balance between the efficiency and reliability of the road model.展开更多
基金The National Natural Science Foundation of China(No.61973079,61273236)the Program for Special Talents in Six Major Fields of Jiangsu Province(No.2017JXQC-003)。
文摘A new lane-level road modeling method based on cardinal spline is proposed for the special intersections which are covered by vegetation or artificial landscape in their central regions.First,cardinal spline curves are used to fit the virtual lanes inside special intersections,and an initial road model is established using a series of control points and tension parameters.Then,the progressive optimization algorithm is proposed to determine the final road model based on the initial model.The algorithm determines reasonable control points and optimal tension parameters according to the degree of road curvature changes,so as to achieve a balance between the efficiency and reliability of the road model.Finally,the proposed intersection model is verified and evaluated through experiments.The results show that this method can effectively describe the lane-level topological relationship and geometric details of this kind of special intersection where the central area is covered by vegetation or artificial landscape,and can achieve a good balance between the efficiency and reliability of the road model.
