摘要
针对智能车的精确导航问题,提出一种基于常规电子地图稀疏坐标的导航路径生成与优化方法。首先利用线性插值对稀疏路网数据进行处理,生成符合道路几何形状的拟合控制点,并对上述控制点进行B样条拟合;而后结合车辆与道路的几何特性,构建智能车导航路径的约束模型,实现该模型约束下的智能车导航路径的自适应优化。实验结果证明了该方法的有效性。
Aiming at the precise navigation for intelligent vehicle, an generation and optimization method of navigation path based on sparse coordinates of routine digital map is proposed. This method includes two steps ： Firstly, it uses linear inter- polation to deal with sparse road network data and generate control points that are well fit with road shape, and uses B- spline fitting to match these points;Then, combining with geometrical characteristics of both vehicle and road, it builds a constraint model to achieve self-adaptive optimization for the navigation path of intelligent vehicle. The validity of the meth- od is verified by the experiment.
出处
《军事交通学院学报》
2015年第6期26-31,共6页
Journal of Military Transportation University
基金
国家自然科学基金(91120306
91220301)
国家博士后科学基金(2013M542433)
天津市自然科学基金(14JCQNJC01600)
关键词
精确导航
电子地图
稀疏坐标
道路几何
B样条
precise navigation
digital map
sparse coordinates
road geometry
B-spline
