Modeling the Special Intersection for Enhanced Digital Map

The enhanced digital map is of great significance for various Intelligent Transportation System (ITS) applications and services, especially at the lane-level. This requirement motives the development of road modeling in the enhanced digital map at the lane-level. However, previous enhanced digital maps do not provide detailed modeling of special intersections which are covered by vegetation in the central region. In this paper we propose a novel lane-level road model for this special intersection scenario. The proposed intersection model can be considered into two levels: topological structure and geometrical structure. Topological structure of this model helps describe the connectivity, turn restrictions and other attributes of the special intersection in the real world. Geometrical structure of this model helps describe the virtual lanes of the internal part of the special intersection using cardinal spline, which better approximates the real vehicle trajectory at the intersection. The proposed intersection model has been verified and evaluated through experiments. The results demonstrate the effectiveness of the proposed intersection model in representing the lane-level topological and geometrical details of special intersection which is covered by vegetation in its central region.