Using external map information for automated driving is beneficial, as this follows an extension of the sensor range and global navigation to a priori specified goal. However, common systems use high definition maps, which are expensive to construct and hard to maintain. Therefore, the paper at hand proposes an sensor-independent approach for navigation based on uncertain map data. This work first builds an environment model and plans a global route based on publicly available OpenStreetMap-Data. Afterward, it plans a trajectory considering the uncertainty in the map. Experiments in simulation and on real-world data show the efficiency of the approach.
Navigation with Uncertain Map Data for Automated Vehicles
Proceedings
2021-09-16
15 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Deutsch
Navigation with Uncertain Map Data for Automated Vehicles
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