Research On Dynamic Lane Level Path Guidance Technology For Unmanned Vehicle Navigation

The research purpose of this paper is mainly to solve the problem of how to realize the dynamic navigation path guidance of the unmanned vehicle(hereinafter referred to as the unmanned vehicle)in the complex traffic environment.Route guidance is one of the key technologies in the unmanned vehicle system,which plays an important role in the safety and efficiency of the vehicle driving and improving the safety and efficiency of the traffic.The first from vehicle navigation and positioning principle of unmanned vehicle navigation and positioning system requirements analysis,next to the map data structure analysis,in the diagram of the relevant knowledge base,describes the how to use graph to represent the network,on the lane level map abstraction.Then,from the point of view of the road resistance function which can affect the vehicle running,the road resistance function is discussed,and the establishment of the road network topology is described in detail.Then it introduces the basic principles,requirements and dynamic path planning of the path planning.In front of unmanned vehicles need precision navigation and positioning and path planning on the basis of the study,statistical analysis artificial driving a vehicle running track and vehicle posture change data,simulated driving operation,control algorithm on unmanned vehicle route guidance,through the simulation meter and equipped with model test and verify the path guidance control algorithm can realize unmanned vehicle driving route guidance.