簡介 Introductions

高精地圖記載著豐富的三維資訊，其中包含了精準詳細的道路模型與路旁設施模型。高精地圖能協助自駕車得到公分等級的動態定位，也能提供自駕車感測器以外的場域資訊，對於自駕車的安全性與效能是不可或缺的。本系統提供一個完整的高精地圖建置方案。

High definition maps (HD maps) are highly precise 3-d maps with a detailed description of road and lane geometry, and 3-d models of road-side objects such as traffic lights and poles. 

HD maps are an integral part of self-driving car systems, as it helps the car determine its precise location in the world, and allows the car to augment its senses with rich information about its environment.  This system provides an end-to-end solution for quickly creating HD maps, addressing key steps from data collection, data processing, to map quality validation.

特色與創新 Characters and Innovations

• 快速建製大範圍圖資。
• 感測器模組：低成本元件、容易佈署（可安裝於一般車輛、僅需要點菸器電源、使用筆記型電腦紀錄隨車數據）。
• 精準套疊多趟光達點雲數據。
• 符合內政部高精地圖的精度規範：10 cm 相對精度、 30 cm 絕對精度。
• 自動化向量圖層標註工具。
• Quickly achieve large geographic coverage.
• On-car sensor module: based on low cost components, easy to deploy (sensor rig is mountable on any vehicle; sensor rig can use power from in-car cigarette lighter; data recorded with in-car laptop).
• Uses SLAM technology, including scan matching and pose graph optimization algorithms, to ensure precise alignment of separate trips.
• Satisfies Ministry of Interior HD map accuracy requirements : 10 cm relative accuracy, 30 cm absolute accuracy.
• Semi-automated semantic map annotation tool.

應用與效益 Applications and Benefits

• 自駕車、數位孿生、AR/VR、交通流量模擬、公路設施維護、程式規劃。
• Self-driving cars, digital twin, AR/VR, traffic flow simulation, road infrastructure maintenance,urban planning.

自主駕駛系統與自駕情境模擬技術