Adaptive Route Planning on Simulation-to-Real Environments in the Autonomous Driving Platform

Authors：Yanbo Liu, Chunrun Du, Huaming Yan, Shaobo Wang, Yang Xu, Kang Liu, Yanze Yu, Weiqi Sun
Publication date：2022/11/22
Book：Society of Automotive Engineers (SAE)-China Congress
Pages：467-483
Publisher：Springer Nature Singapore

Abstract:
In this paper, we propose a method to make intelligent vehicles complete lateral lane change control, longitudinal overtaking control, and path planning of cloud computing network-connected road sections with the support of roadside-end fusion detection equipment. Also, we simulated the actual scenario of intelligent vehicles and vehicle detection equipment between the data communication and complete the communication test in the simulation scene of the sand table model. As for roadside detection equipment, different detection equipment is customized according to the traffic flow and traffic scenarios of real urban roads, sensors such as lidar and cameras are fused, and roadside information monitoring and vehicle scheduling are completed in combination with roadside units and computing platforms. As for the intelligent vehicle navigation module, lidar and binocular cameras are used for SLAM mapping, and the vehicle is accurately positioned with the help of the camera and Tag code. The simulation-to-real environment will improve the vehicle positioning accuracy through the WIFI module. For the intelligent vehicle control module, it provides real-time roadside information to the vehicle, which completes the tests of vehicle road driving, marker recognition, and traffic light detection in Gazebo by cameras and lidars.

Electronic ISSN：1876-1119
Print ISSN：1876-1100