The lane-level map, which contains the lane-level information severely lacking in widely used commercial navigation maps, has become an essential data source for autonomous driving systems. The linking relations between lane-level map and commercial navigation map can facilitate an autonomous driving system mapping information between different applications using different maps. In this paper, an approach is proposed to build the linking relations automatically. The different topology networks are first reconstructed into similar structures. Then, to build the linking relations automatically, the adaptive multi-filter algorithm and forward path exploring algorithm are proposed to detect corresponding junctions and paths, respectively. The approach is validated by two real data sets of more than 150 km of roads, mainly highway. The linking relations for nearly 94% of the total road length have been built successfully.

中文翻译：

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使用拓扑网络匹配自动建立车道级地图和商业导航地图之间的链接关系

车道级地图包含了广泛使用的商业导航地图严重缺乏的车道级信息，已成为自动驾驶系统必不可少的数据源。车道级地图和商业导航地图之间的链接关系可以促进自动驾驶系统在使用不同地图的不同应用程序之间映射信息。在本文中，提出了一种自动建立链接关系的方法。不同的拓扑网络首先被重构为相似的结构。然后，为了自动建立链接关系，提出了自适应多滤波器算法和前向路径探索算法来分别检测相应的路口和路径。该方法通过两个超过 150 公里道路（主要是高速公路）的真实数据集进行验证。