21/11/2018

1

• Chief software Architect of high-precision map of

intelligent automobile department of Baidu, Inc.;

• Ph.D of China University of Geosciences(Wuhan);

• Research interests: Geographical Information Science,

Autonomous Driving, Navigation & HD Map;

1

Introduction to Dr. Ma Changjie

Organizer:

Intelligent Transportation and Autonomous Vehicles

Baidu Apollo HD Map

Dr. Ma Changjie

Nov. 2018

21/11/2018

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Open

Capability

Shared

ResourcesAccelerated

Innovation

Sustained

Mutual Benefit

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HD Map Simulation Data Platform Security OTA DuerOS

Map Engine Localization Perception Planning Control End-to-End HMI

Runtime Framework

RTOS

GPS / IMU Camera LiDAR Radar HMI Device Black Box

Drive-by-wire Vehicle

Computing Unit

Apollo Framework

21/11/2018

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Apollo is Accelerating Innovation for Autonomous Driving

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Apollo Pilot: Making Driving Safer

21/11/2018

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Apollo HD Map

One Road Network

ArchitectureFull-Scenario

Features

AI Driven

Technology

One Road Network Architecture

Dynamic Data ( RTTI, Traffic Events etc.)

Sensor Feature

Lane Topology Traffic Signs

Parking FacilityLane-Level

Navigation

Data

AD Assisted Driving Data (e.g. Speed up, Slow down, etc.)

Data Adapter/Cross-reference

Road-Level

Navigation

Data

BMD

Routing Names

POI

Road Network

HD Map

SD Map

21/11/2018

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One Road Network Architecture

Full-Scenario Features: Highway & Expressway

ArrowFeatures

Lane Marking Geometry

Lane Marking Color

Lane Marking Style

Lane Marking Material

Lane Marking Width

Lane Construction State

Lane Number

Lane Width/Type

Lane Centerline

Lane Topology

Max/Min Speed Limit

Junction

Overpass

Guardrail/Curb

Arrows/Words

…

Overpass

Lane Centerline

Lane Marking Geometry

Lane Marking Style

Lane Marking Color

Guardrail

Curb

Beijing

Shanghai

21/11/2018

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Full-Scenario Features: Urban Road & Close Area

Features

Lane Marking Geometry

Lane Marking Color

Lane Marking Style

Lane Marking Material

Lane Marking Width

Lane Construction State

Virtual Lane Connectivity of

Intersection

Intersection Boundary

Traffic Light

Stop Line

Speed Bump

Zebra Line

Overpass

Traffic Sign

No Parking Area

…

Speed Bumps

No Parking Area

Road Intersection

Full-Scenario Features: Parking Facility

Features

Parking Facility Region

Parking Space ID

Parking Space Geometry

Parking Wheel Marker

Parking Lane Marking

Pole

Drivable Area

Connection to Road

Handover Zone

Arrow

No Parking Area

Zebra Line

Curvature

Traffic Sign

Ramp Area

…

Parking Space ID &wheel marker

Lane Marking & traffic sign

Parking Facility Region

21/11/2018

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AI Driven Technology: HD Map Production Pipeline

CameraCamera

LiDARLiDAR

IMUIMU

GPSGPS

GPS TrackGPS Track

Point CloudPoint Cloud

Photo imagePhoto image

Point Cloud Fusion & RecognitionPoint Cloud Fusion & Recognition

Image RecognitionImage Recognition

FusionFusion PolePole

CurbCurb GuardrailGuardrail

ArrowArrow SignboardSignboard

Lane markingLane marking Traffic signTraffic sign

MapmakerMapmaker NDS ReleaseNDS Release

Data SourcingData Sourcing Backend AutomationBackend Automation Map making & ValidationMap making & Validation Map Compile & ReleaseMap Compile & Release

Map production managementMap production management

AI Driven Technology: Point Clouds & Images Automated Processing

TSR

Image Recognition

MSF

3D->2D

Mapping

Motion

Compensation

3D Modeling

Feature extraction

Point Cloud Fusion

Point Cloud

Recognition

PCF&PCR

Element track

cluster Filter & fill-up

Deep Learning Neural Network (CNN/RCNN/RNN)

21/11/2018

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AI Driven Technology: Point Clouds & Images Automated Recognition

Chinese standard traffic sign list above, 200 types or so.Lane marking and Guardrail in China about 50 types

FeatureAccuracy

rate

Lane Marking 96.6%

Guardrail 99.1%

Curb 99.1%

Sign 95.4%

Pole 95.5%

AI Driven Technology: Intelligent Map Ecosystem

Intelligent Map Platform

DC DC DCSD/HD

Smartphone Crowd-Sourcing In-Car Smart Device Intelligent Connected Car

Data Data

Baidu Survey Fleet

Autonomous Driving Car

Data

DCHD

Data

21/11/2018

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Open Road testing with BMW/Bosch/Cherry

Bosch AD road testing on SuZhou Highway 2017BMW AD road testing on Open road 2016 Cherry AD road testing on Wuhu Highway 2018

OEM Partners Testing Reports & Nomination

21/11/2018

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Thanks