无人地面车辆车道级路径引导方法

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.