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《工程(英文)》 >> 2019年 第5卷 第2期 doi: 10.1016/j.eng.2018.11.032

一种适用于自动驾驶汽车的多层地图模型和车道级轨迹规划

State Key Laboratory of Automotive Safety and Energy, Department of Automotive Engineering & Collaborative Innovation Center of Intelligent New Energy Vehicles, Tsinghua University, Beijing 100084, China

收稿日期: 2018-03-05 修回日期: 2018-05-29 录用日期: 2018-11-08 发布日期: 2019-03-12

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摘要

越来越多的司机依赖于汽车或手机上的电子地图导航系统来选择最佳的驾驶路线,以节省时间和提高安全性,在不久的将来,电子地图和导航系统有望在未来交通运输系统中发挥更大的作用。为了将现有的导航系统扩展到更多的应用领域,如自动驾驶,需要考虑在传统道路地图模型的基础上,建立车道级地图模型和车道级轨迹规划。本研究针对传统电子地图内容不够丰富的局限性,提出了一种全新的七层自动驾驶地图结构模型,并将它命名为清华地图模型。考虑车辆换道、转向和直行等不同行车特点,建立了车道级路段行车代价模型,建立一种分层路径轨迹搜索方法,能够在道路和车道网络中实现快速的轨迹规划,能够很好地支持自动驾驶的车道级轨迹规划。通过在虚拟道路网络和实际道路网络上的测试,充分验证了该地图模型和算法的灵活性和有效性。

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