Low-cost vector map assisted navigation strategy for autonomous vehicle
文献类型：会议论文
| 作者 | Wenda Li; Xianjie Meng; Zheng Wang; Wenqi Fang; Jie Zou; Huiyun Li; Tianfu Sun; Jianing Liang |
| 出版日期 | 2018 |
| 会议日期 | 2018 |
| 会议地点 | 中国成都 |
| 英文摘要 | Differential Global Positioning System (DGPS) is a crucial component in the perception system of today’s autonomous vehicle (AV). Traditional navigation technique takes advantage of the accurate positioning of DGPS and high-definition (HD) map to facilitate path tracking. However, HD map occupies large storage space due to its extensive information on the detailed structure of the environment, which is extremely costly to deploy onto in-vehicle computing devices. This work proposes a low-cost vector map based navigation framework. By recording the vector map off-line, the framework initializes an optimal global route by giving any starting and ending position on the map. During runtime, the computer filters the real-time positioning data from DGPS and tracks the planned path according to geometric rules. Besides, when the Lidar/vision subsystem detects any obstacles, the method dynamically adjusts the local path to realize obstacle avoidance. Demonstrated on an AV testing platform, the proposed method calculates the angle of the steering wheel and transmits the actual commands through CAN bus interface. |
| URL标识 | 查看原文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/13737]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 推荐引用方式 GB/T 7714 | Wenda Li,Xianjie Meng,Zheng Wang,et al. Low-cost vector map assisted navigation strategy for autonomous vehicle[C]. 见:. 中国成都. 2018. |
入库方式： OAI收割
来源：深圳先进技术研究院
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