PURPOSES : This study aimed to develop data conversion of NGII HD maps to OpenDRIVE format for virtual road implementation for autonomous-driving verification.
METHODS : A method of defining the reference line of OpenDRIVE on the centerline of an NGII HD map is proposed. According to the construction characteristics of the NGII HD map, the optimal conversion method through parametric cubic polynomials was used in the form of piecewise and clamped cubic polynomials.
RESULTS : The study focused on curved roads that may cause problems when converting HD map data into OpenDRIVE formats. As a result of data conversion, a reference line was defined to precisely follow the alignment of NGII HD maps drawn based on MMS data, and a lively virtual road was reproduced through road lane width and lane expression.
CONCLUSIONS : A virtual road in the same environment as a real road, which is one of the important factors in verifying autonomous driving technology through virtual driving simulation, was constructed. The piecewise-polynomial normal was 0.008 m on average, and as a result of calculating the distance between the endpoint coordinates of the road object and the endpoint coordinates of the converted road object on the NGII HD map, the difference between the two points was 0.163 m on average. The clamped cubic polynomials normal was observed to be an average of 0.170 m.

ABSTRACT
1. 서론
    1.1. 연구의 배경 및 목적
    1.2. 연구의 범위 및 내용
2. 관련 연구에 대한 고찰
    2.1. 기존연구
    2.2. 정밀도로지도 및 OpenDRIVE 플랫폼의 국・내외구축 현황
3. NGII HD map과 OpenDRIVE의 개요 및 특징
4. 직・곡선 혼재 구간의 OpenDRIVE 형식 변환방법
    4.1. 방법 1 : 전구간 3차 스플라인
    4.2. 방법 2 : 직선-3차 다항식(clamped)으로 구간 분할
    4.3. 도로객체의 기준선 결정
    4.4. 차로 폭 및 차선 정의
5. OpenDRIVE 변환 결과
    5.1. 데이터 변환 결과
    5.2. 시뮬레이션을 통한 주행 검증
6. 결론
REFERENCES

• 박관(대구광역시 중구청 교통과) | Park Goan
• 김도균(경북도립대학교 토목공학과) | Kim Dokyun
• 하이더 이브라힘(칼리파대학교 토목공학과) | Haider Ibrahim
• 최지향(영남대학교 건설시스템공학과) | Choi Jihyang Corresponding author