ESTABLISHMENT OF HD MAPS VERIFICATION AND VALIDATION PROCEDURE WITH OPENDRIVE AND AUTOWARE (LANELET2) FORMATS

Abstract. Mobile mapping technologies, for example multi-sensor integration and multi-platform mapping technology, have developed and improved over recent decades, various applications such as conventional mapping scenarios, rapid disaster response, smart city, and autonomous vehicle application arise synchronously. Especially, autonomous driving vehicles have made enormous progress. High-definition (HD) maps are key for autonomous driving because of their high accuracy and rich information of road scenes. However, how to make sure that HD maps are suitable for autonomous vehicle requirement is an important topic. The HD maps guidelines and standards in Taiwan are released since 2018 and mainly focus on point cloud and shape file format. In this paper, a procedure for the verification and validation of HD maps for OpenDRIVE and Autoware (Lanelet2) is proposed. It discusses about the verification strategies, suggestion review item, recommendation tools, and process. As shown by our preliminary results, the proposed process can conform not only in closed area but also public road. These issues can help reducing HD maps production costs. When the foundation of HD maps accomplishes, the autonomous driving techniques can naturally complement. The vision of full automation vehicle will come true rapidly in the future.