摘 要
随着自动驾驶技术的快速发展，高精度地图作为其核心支撑之一，对车辆感知与决策能力具有重要意义。本研究旨在探索自动驾驶车辆高精度地图的构建与更新技术，以满足动态复杂环境下的实时性和精确性需求。研究结合多源传感器数据融合技术，提出了一种基于深度学习的高精度地图生成算法，能够有效提取道路特征并实现厘米级精度的地图构建。同时，为解决传统地图更新效率低的问题，引入分布式边缘计算框架，设计了增量式地图更新机制，显著提升了地图数据的时效性。实验结果表明，所提出的算法在多种场景下均表现出优异的鲁棒性和准确性，地图构建误差低于5厘米，更新延迟降低至分钟级。此外，该研究还开发了一套验证平台，用于评估地图质量及其对自动驾驶系统性能的影响。研究成果不仅为高精度地图的实际应用提供了技术支持，还通过创新性的更新策略降低了系统资源消耗，为未来大规模部署奠定了基础。
关键词：高精度地图；自动驾驶；深度学习；分布式边缘计算；增量式更新
Abstract
With the rapid development of autonomous driving technology, high-precision maps, as one of the core supports, play a significant role in vehicle perception and decision-making capabilities. This study aims to explore the construction and updating technologies of high-precision maps for autonomous vehicles to meet the demands of real-time performance and accuracy in dynamic and complex environments. By integrating multi-source sensor data fusion technology, a deep-learning-based algorithm for generating high-precision maps is proposed, which can effectively extract road features and achieve centimeter-level accuracy in map construction. To address the issue of low efficiency in traditional map updates, a distributed edge computing fr amework is introduced, and an incremental map updating mechanism is designed, significantly enhancing the timeliness of map data. Experimental results demonstrate that the proposed algorithm exhibits excellent robustness and accuracy across various scenarios, with map construction errors below 5 centimeters and update delays reduced to the minute level. Furthermore, this research develops a validation platform for evaluating map quality and its impact on the performance of autonomous driving systems. The findings not only provide technical support for the practical application of high-precision maps but also reduce system resource consumption through innovative updating strategies, laying the foundation for future large-scale deployment.
Keywords: High-Precision Map；Autonomous Driving；Deep Learning；Distributed Edge Computing；Incremental Update
目 录
摘 要 I
Abstract II
一、绪论 1
（一）自动驾驶与高精度地图的研究背景 1
（二）高精度地图构建与更新的意义分析 1
（三）国内外研究现状综述 1
二、高精度地图构建关键技术 2
（一）数据采集与传感器融合技术 2
（二）地图要素提取与建模方法 2
（三）地图精度评估与优化策略 3
（四）构建技术的挑战与解决方案 3
三、高精度地图动态更新机制 4
（一）实时数据传输与处理技术 4
（二）更新算法设计与实现路径 4
（三）更新频率与资源分配优化 5
（四）动态更新中的误差控制 5
四、高精度地图应用与性能验证 6
（一）自动驾驶场景下的地图适配性分析 6
（二）地图在路径规划中的作用研究 7
（三）性能测试与结果评价方法 7
（四）应用案例分析与未来展望 8
结 论 8
致 谢 10
参考文献 11
