【作者】 郭曦； 陈慧； 谢明；

【Author】 X.Guo;H.Chen;M.Xie;College of Electronics & Information Engineering,Tongji University;College of Automotive Engineering,Tongji University;School of Mechanical & Aerospace Engineering,Nanyang Technological University;

【机构】 同济大学电子与信息工程学院； 同济大学汽车工程学院； 南洋理工大学机械与宇航工程学院；

【摘要】 本文以同济大学汽车工程学院"春晖"无人驾驶汽车项目的研究为依托,从道路网络的数字化存储、车辆定位、全局路径规划和路点跟随四个方面入手,详细阐述了车辆全局路径规划的核心算法——迪杰斯特拉算法,对车辆定位、路点跟随等车辆完成自主驾驶所必须的功能进行了探索性研究,提出了相关算法,并且在实践中证明了其应用价值。更多还原

【Abstract】 This research is based on the "Spring Light" autonomous vehicle project led by College of Automotive Engineering of Tongji University.Start with the digitalization of road network,vehicle positioning,global path planning and waypoint following four aspects,we illustrate the core algorithm of vehicle’s global path planning-Dijkstra’s algorithm,make exploratory researches in some indispensable functions for vehicle’s autonomous operation,such as vehicle positioning,waypoint following,etc.,and propose related algorithms which are proven in experiments.更多还原