光学精密工程2024，Vol.32Issue(16)：2537-2549,13.DOI:10.37188/OPE.20243216.2537
基于激光雷达点云地图的车辆定位与导航
Vehicle localization and navigation method based on LiDAR point cloud map
摘要
Abstract
In order to solve the problems of vehicle autonomous positioning and navigation in the auto drive system,such as the inability to accurately estimate the body posture and the unsmooth navigation path,a positioning and navigation method based on a priori laser radar point cloud map was proposed.Us-ing point cloud segmentation technology to separate feasible areas and potential risk sources,this paper studies the NDT(Normal Distribution Transform)point cloud registration and localization method based on optimized convergence process.The traditional A* algorithm is improved from two aspects:dynamic weight design and domain first search strategy to meet the real-time positioning and navigation needs of au-tonomous driving.The experiment used Baidu Apollo Autonomous Driving Development Kit(D-KIT)for multiple control experiments.When the voxel downsampling Leafsize parameter was 1(high sam-pling),1.2(medium sampling),and 1.5(low sampling),the localization time was reduced by 27.77%,38.75%,and 38.30%,respectively.Four sets of navigation experiments were selected that meet the ac-tual driving needs.After improvement,the maximum curvature of the navigation path was reduced by 80.9%,74.9%,65%,and 69.5%,respectively.The curvature of the navigation path remained low and stable,and the curvature data was consistent with vehicle dynamics.Provide effective methods for vehicle positioning and high-precision navigation.关键词
自动驾驶/点云配准/路径规划/点云处理/扩展邻域Key words
autonomous driving/point cloud alignment/path planning/point cloud processing/extend-ed neighborhoods分类
计算机与自动化引用本文复制引用
马庆禄,白锋,张杰,邹政..基于激光雷达点云地图的车辆定位与导航[J].光学精密工程,2024,32(16):2537-2549,13.基金项目
国家自然科学基金项目(No.52072054) （No.52072054）
重庆市自然科学基金面上项目(No.CSTB2023NSCQ-MSX0551) （No.CSTB2023NSCQ-MSX0551）
