一种基于高精度地图匹配误差的路径规划方法

A Path Planning Method Based on High-Definition Map Matching Error

在无人驾驶技术发展的过程中,地图的匹配定位与其所指导的路径规划是十分重要的研究内容。路径规划的质量、总代价和稳定性往往与地图匹配定位的准确率有关。因此,论文使用正态分布变换算法进行基于高精度地图的无人车匹配与定位,然后将匹配误差引入路径规划代价函数。并引入道路危险系数的概念,根据匹配误差修改障碍物附近道路的危险系数,从而提高路径规划的稳定性和安全性。此外,论文进行了仿真实验,验证了算法的有效性。

In the process of the development of autonomous driving,the matching location of maps and the path planning guid⁃ed by them are very important research contents.The quality,total cost,and stability of path planning are often related to the accu⁃racy of map matching positioning.Therefore,this paper uses the normal distribution transform algorithm to perform unmanned vehi⁃cle matching and positioning based on high-definition map,and then introduces the matching error into the path planning cost func⁃tion.The concept of road risk factor is introduced,and the risk factor of the road near the obstacle is modified according to the matching error,thereby improving the stability and safety of the path planning.In addition,the simulation experiments are carried out to verify the effectiveness of the algorithm.