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.


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    Titel :

    Navigation with Uncertain Map Data for Automated Vehicles


    Weitere Titelangaben:

    Proceedings


    Beteiligte:
    Bertram, Torsten (Herausgeber:in) / Diehl, Christopher (Autor:in) / Stannartz, Niklas (Autor:in) / Bertram, Torsten (Autor:in)

    Erschienen in:

    Automatisiertes Fahren 2021 ; Kapitel : 11 ; 143-157


    Erscheinungsdatum :

    2021-09-16


    Format / Umfang :

    15 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Deutsch




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