西安电子科技大学学报 ›› 2018, Vol. 45 ›› Issue (6): 156-161.doi: 10.3969/j.issn.1001-2400.2018.06.026

• 研究论文 • 上一篇    下一篇

无人地面车辆车道级路径引导方法

杨强荣;王美玲;于华超   

  1. (北京理工大学 自动化学院,北京 100081)
  • 收稿日期:2017-03-23 出版日期:2018-12-20 发布日期:2018-12-20
  • 通讯作者: 王美玲(1970-),女,教授,博士, E-mail: wangml@bit.edu.com
  • 作者简介:杨强荣(1988-),男,北京理工大学博士研究生,E-mail: bit20070042@163.com

Lane-level path guiding method for an unmanned ground vehicle

YANG Qiangrong;WANG Meiling;YU Huachao   

  1. (School of Automation, Beijing Institute of Technology, Beijing, 100081, China)
  • Received:2017-03-23 Online:2018-12-20 Published:2018-12-20
  • Supported by:
    国家自然科学基金资助项目(61473042);教育部创新团队发展计划资助项目(IRT_16R06);教育部长江学者奖励计划特聘教授基金资助项目(T2014224)

摘要: 针对无人地面车辆对高精度电子地图的需求和在结构化道路环境下的导航要求,基于多传感器信息融合构建了车道级的电子地图,并基于该电子地图提出了一种车道级的路径引导算法.首先,利用数据采集平台采集多传感器的数据,并对采集到的数据进行融合来构建车道级的电子地图,并进一步根据交通规则生成道路和车道线;接着,根据不同地理对象所反映的不同特征设计了其属性表;然后,根据结构化道路环境的特点提出了一种全局路径规划策略;最后,针对无人地面车辆遇到障碍物需要对全局路径进行修正的场景,提出了一种基于代价地图的修正方法,指导车辆完成避让.跑车实验和中国智能车挑战赛比赛结果表明,文中提出的高精度电子地图和路径引导方法能满足无人地面车辆在结构化道路环境下的导航需求,能够为无人地面车辆安全、快速行驶提供可靠的指导和保障.

关键词: 智能机器人, 无人地面车辆, 车道级, 电子地图, 路径引导

Abstract: A lane-level digital map is constructed with multi-sensors to meet the requirements of an unmanned ground vehicle for a high-precision digital map and the needs to navigate in the structured road environment. Based on this lane-level digital map, a lane-level path guiding algorithm is also proposed. First, a lane-level digital map is constructed with the multi-sensor data collected by the data collecting platform and the lanes and segments are built according to traffic rules. Next, different property tables are designed for different geographic elements to represent their characteristics. Then, a global path planning method is proposed according to the characteristic of the structured road environment. Finally, a local path planning method is proposed to avoid the obstacles when the UGV meets the obstacles. According to the results of both on-vehicle experiments and contests for unmanned vehicles, it is shown that the proposed digital map and path guiding method meet the requirements of unmanned ground vehicles in the structured road environment and offer a reliable guidance and guarantee for fast and safe driving of unmanned ground vehicles.

Key words: intelligent robot, unmanned ground vehicle, lane-level, digital map, path guiding

中图分类号: 

  • TP242