一种基于高精度地图的路径跟踪方法
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摘要
斯坦利方法对扰动的鲁棒性较差,且易在路径跟踪时产生较大偏差。为此,提出一种改进的斯坦利路径跟踪方法。利用自动驾驶车的惯性导航系统收集路网数据,建立一张高精度的道路地图。使用A*算法进行路径规划,得到有效的路径信息。根据车速与注视点之间的对数关系,计算出前视点的位置,并将前视点作为斯坦利路径跟踪的目标点。实验结果表明,与斯坦利方法相比,该方法路径跟踪的横向偏差降低了20%。
The Stanley method is less robust to disturbances and tends to produce larger deviations in path tracking. In order to solve this problem, an improved Stanley path tracking method is proposed. Road network data collected by the inertial navigation system of autonomous vehicles are used to build a high-precision road map. In order to get effective path information,A-Star algorithm has been chosen for path planning. The position of the look-ahead points are calculated by the logarithmic relationship between the vehicle speed and the fixation points,t he look-ahead points are taken as the target points for the Stanley method. Experimental results show that the lateral deviation of path tracking of this method is reduced by 20% as compared with the Stanley method.
The Stanley method is less robust to disturbances and tends to produce larger deviations in path tracking. In order to solve this problem, an improved Stanley path tracking method is proposed. Road network data collected by the inertial navigation system of autonomous vehicles are used to build a high-precision road map. In order to get effective path information,A-Star algorithm has been chosen for path planning. The position of the look-ahead points are calculated by the logarithmic relationship between the vehicle speed and the fixation points,t he look-ahead points are taken as the target points for the Stanley method. Experimental results show that the lateral deviation of path tracking of this method is reduced by 20% as compared with the Stanley method.
引文
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[5]HU J,HU Jiuxiang,RAZDAN A,et al.Road network extraction and intersection detection from aerial images by tracking road footprints[J].IEEE Transactions on Geoscience&Remote Sensing,2007,45(12):4144-4157.
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[7]AMO M,MARTINEZ F,TORRE M.Road extraction from aerial images using a region competition algori thm[J].IEEE Transactions on Image Processing,2006,15(5):1192-1201.
[8]屈盼让,李林,任晓琨,等.基于B样条曲线的无人车路径规划算法[J].电脑知识与技术,2016,12(26):235-237.
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[11]ANDERSEN H,ZHUANG J C,YOU H E,et al.Geometric path tracking algorithm for autonomous driving in pedestrian environment[C]//Proceedings of IEEEInternational Conference on Advanced Intelligent Mechatronics.Washington D.C.,USA:IEEE Press,2016.
[12]ZHU Qi,HUANG Zhenhua,LIU Daxue,et al.An adaptive path tracking method for autonomous land vehicle based on neural dynamic programming[C]//Proceedings of IEEE International Conference on Mechatronics and Automation.Washington D.C.,USA:IEEE Press,2016:1429-1434.
[13]KIM M,SHIN S,PARK J.Study on vehicle lateral control for backward driving[C]//Proceedings of International Conference on Ubiquitous Robots and Ambient Intelligence.Washington D.C.,USA:IEEEPress,2016:191-193.
[14]GUAN Quanzhen,BAO Hong,XUAN Zuxing.The research of prediction model on intelligent vehicle based on driver’s perception[J].Cluster Computing,2017,20(4):2967-2979.
[15]王任栋,章永进,徐友春,等.基于稀疏地图坐标的智能车导航路径生成与优化[J].军事交通学院学报,2015,17(6):26-31.
[16]王元彪.智能交通系统中Dijkstra算法的高效实现[J].计算机工程,2007,33(6):256-258.
[17]黎萍,朱军燕,彭芳,等.基于可视图与A*算法的路径规划[J].计算机工程,2014,40(3):193-195.