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一种基于高精度地图的路径跟踪方法
A Path Tracking Method Based on High Precision Map

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阳钧   鲍泓   梁军   马楠  
文摘 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%。
其他语种文摘 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.
来源 计算机工程 ,2018,44(7):8-13 【扩展库】
DOI 10.19678/j.issn.1000-3428.0050989
关键词 斯坦利方法 ; 路径跟踪 ; 高精度地图 ; 自动驾驶 ; 路径规划
地址

北京联合大学, 北京信息服务工程重点实验室, 北京, 100101

语种 中文
文献类型 研究性论文
ISSN 1000-3428
学科 自动化技术、计算机技术
基金 国家自然科学基金“视听觉信息的认知计算 ;  英国皇家工程院牛顿基金 ;  北京市属高校高水平教师队伍建设支持计划项目
文献收藏号 CSCD:6285660

参考文献 共 17 共1页

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引证文献 2

1 杨振凯 浅析高精度地图发展现状及关键技术 测绘通报,2021(6):54-60
被引 9

2 詹京吴 融合安全A*算法与动态窗口法的机器人路径规划 计算机工程,2022,48(9):105-112,120
被引 3

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