Towards a standardized workflow for creating high-definition maps for highly automated shuttles

During the last decade, connected and automated driving (CAD) has gained considerable attention. For example, automated shuttles, a specific category of automated vehicles (AVs), intend driverless operation for passenger or goods transport in constrained operational design domains (ODDs). So far, these shuttles predominately follow a static driving path, but for reaching higher automation levels, a more comprehensive digital representation of the driving environment, a so-called high-definition (HD) map is needed. However, when it comes to the definition of the scope as well as the composition workflow, a common method is missing. The current work proposes and evaluates a 4-steps workflow including sub-workflows for creating a HD map for AVs in constrained ODDs. The workflow includes sub-workflows for (1) definition of the scope based on use cases, (2) mapping and semi-automatic extraction of objects from a LIDAR point cloud, (3) HD map composition with OpenDRIVE (R) and Lanelet2 as target formats and (4) testing and iterative refinement with respect to the intended use cases. The workflows are evaluated by applying them on a 2-km-long test track. The resulting HD map is evaluated with two different case studies. Results may serve as guidelines for creating HD maps for AV trials.