RoadState: A Domain-Prior-Enhanced Vision-Language System for Industrial-Grade Lane-Level Map Updating

원문 초록

Lane-level map updating requires temporally consistent, physically valid, and auditable road-scene semantics despite occlusions, ambiguous lane markings, temporary obstacles, and viewpoint changes. We present RoadState, a production-deployed vision-language system that transforms sequential road-scene observations into structured lane-level semantics for Baidu Maps' map-updating pipeline. Its core model, RoadState-VLM, formulates road-scene understanding as autoregressive state estimation, predicting the current structured road state from the previous observation and symbolic state together with the current observation. We introduce Geometric Chain-of-Thought (Geo-CoT), which uses a directed acyclic graph of semantic dependencies as a domain prior to improve semantic consistency and reasoning fidelity across interdependent road-state dimensions. Extensive experiments on a real-world dataset show that RoadState-VLM achieves 94.33% mean accuracy across six road-state dimensions, outperforming the strongest fine-tuned VLM baseline. Ablation studies further demonstrate the complementary effectiveness of Geo-CoT and temporal transition context. A cascaded routing pipeline directs routine cases to lightweight models while reserving complex cases for RoadState-VLM. Since its deployment in March 2025, RoadState has supported lane-level map updating across more than 360 cities and reduced overall production costs by 30%. Together with human-in-the-loop auditing, the system maintains robust performance under stress-test conditions. These results demonstrate how domain-prior-enhanced reasoning, structured state interfaces, selective routing, and human quality control can bridge the gap between VLM-based road-scene understanding and large-scale lane-level map updating.