arXiv:2606.04513cs.AI2026-06KDD被引 1

用智能代理框架自动生成符合规范的高精度道路地图,减少人工干预。

MapAgent: An Industrial-Grade Agentic Framework for City-scale Lane-level Map Generation

论文配图:MapAgent: An Industrial-Grade Agentic Framework for City-scale Lane-level Map Generation
图 1 · 摘自论文原文
  • 构建验证驱动的判断-规划-执行闭环,显式校验交通规则和地图规范
  • 在复杂场景下准确率提升显著,长尾情况错误率降低40%以上
  • 已落地百度地图,支持360多个城市,自动化率达95%以上

车道级地图是自动驾驶与导航的关键基础设施,但为数百个城市构建和维护标准化车道网络仍高度依赖人力。现有端到端向量化映射方法虽能直接从传感器数据预测车道几何与拓扑,但通常将地图规范和交通规则作为隐含、依赖数据集的监督信号。在复杂场景(如标线磨损、缺失或遮挡)下,仅靠视觉证据难以确定正确车道配置,导致规范违反成为人工后处理的主要原因。本文提出MapAgent,一种工业级智能体架构,增强向量化主干模型以实现规范合规的车道图生成。不同于简单添加代理循环,MapAgent将感知与显式规范验证、约束推理及确定性编辑结合,形成受控的验证驱动型判断-规划-执行循环。视觉语言判断器联合检查视觉证据与草图向量诊断错误,工具调用规划器生成最小修正操作并进行后编辑验证。为保持城市级生产可扩展性,MapAgent仅在主干模型置信度低的图像块上触发,增加少量开销却保障吞吐量。实验证明其在真实数据集上持续优于强基准,尤其在复杂与长尾场景中表现优异。该系统已集成至百度地图,支撑全国360+城市车道图生成,整体生产自动化率超过95%,验证了其在大规模车道图生成中的实用性与有效性。

原文摘要 · Abstract (English)

Lane-level maps are critical infrastructure for autonomous driving and lane-level navigation, yet constructing and maintaining standardized lane networks for hundreds of cities remains highly labor-intensive. Recent end-to-end vectorized mapping methods can predict lane geometry and topology directly from sensor data, but they typically treat mapping specifications and traffic regulations as implicit, dataset-dependent supervision. Moreover, in complex scenes (e.g., worn or missing markings and occlusions), correct lane configurations are often under-determined by visual evidence alone, making specification violations a major source of human post-editing. We propose MapAgent, an industrial-grade agentic architecture that augments a vectorization backbone for specification-compliant lane-map production. Rather than merely adding an agent loop to map prediction, MapAgent couples backbone perception with explicit specification verification, constraint-aware reasoning, and deterministic map editing under a bounded, verification-driven Judge-Planner-Worker loop. A vision-language Judge diagnoses errors by jointly inspecting visual evidence and draft vectors, while a tool-calling Planner generates minimal corrective edits with post-edit re-validation. To remain scalable for city-scale production, MapAgent is selectively triggered only on tiles with low backbone confidence, adding modest overhead while preserving throughput. Experiments on real-world datasets show consistent gains over strong production baselines, especially in complex and long-tail scenarios. Additionally, MapAgent has been integrated into Baidu Maps, supporting lane-level map generation for over 360 cities nationwide and elevating the overall production automation to over 95%, demonstrating MapAgent's practicality and effectiveness for large-scale lane-level map generation.

地图生成智能体自动驾驶工业应用

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