Study of a Path Tracking Control for Low Speed Autonomous Vehicle Based on LIDAR Information
Study of a Path Tracking Control for Low Speed Autonomous Vehicle Based on LIDAR Information
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基于激光雷达信息的低速自动驾驶车辆路径跟踪控制研究
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
M. Nagai
中科院分区：
文献类型：
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作者：
Takanori Yoshizawa;P. Raksincharoensak;M. Nagai
自动驾驶系统有望成为有效预防交通事故的方法之一。高精度的自我定位和基于道路形状特征的地图技术是在环境复杂的城市地区实现车辆自动驾驶系统的关键要素。本研究的目的是使用安装在车辆前部的激光雷达开发基于地图绘制和自我定位的自动驾驶系统。作为研究的第一步，本文提出了一种使用激光雷达的自动驾驶车辆的路径跟踪控制算法。首先，激光雷达信息用于检测道路两侧的路缘石。因此，检测到的路缘位置用于构建数字地图和生成期望的路径。接下来，基于预览横向车辆控制设计路径跟踪控制。最后，本文展示了基于构建的地图的自主路径跟踪控制系统的仿真和试驾。通过微型电动汽车的试驾验证了控制系统的实际运行能力。
An autonomous driving system is expected to be one of effective traffic accident prevention approaches. Highly-precise ego-localization and mapping techniques from the road shape features are key elements in order to realize an autonomous driving system for vehicle in urban area which has complex environments. The objective of this study is to develop an autonomous driving system based on mapping and ego-localization using a LIDAR which is equipped at the front section of the vehicle. As a first step of the study, this paper proposes a path tracking control algorithm for an autonomous vehicle using a LIDAR. First, the LIDAR information is used to detect curbs on both sides of the road path. Consequently, the detected curb position is used for a digital map construction and a desired path generation. Next, a path tracking control is designed based on preview lateral vehicle control. Finally, this paper shows the simulation and test drives of autonomous path tracking control system based on the constructed map. The test drives using the micro electric vehicle verify that the control system can run in practice.