HDM-RRT: A Fast HD-Map-Guided Motion Planning Algorithm for Autonomous Driving in the Campus Environment

On campus, the complexity of the environment and the lack of regulatory constraints make it difficult to model the environment, resulting in less efficient motion planning algorithms. To solve this problem, HD-Map-guided sampling-based motion planning is a feasible research direction. We proposed a...

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Veröffentlicht in:Remote sensing (Basel, Switzerland) Jg. 15; H. 2; S. 487
Hauptverfasser: Guo, Xiaomin, Cao, Yongxing, Zhou, Jian, Huang, Yuanxian, Li, Bijun
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Basel MDPI AG 01.01.2023
Schlagworte:
algorithm efficiency
Algorithms
autonomous driving
Autonomous vehicles
College campuses
Constraint modelling
Convergence
Efficiency
HD-Map
Heuristic
Motion planning
Normal distribution
Optimization
risk
risk assessment
Roads & highways
Sampling
sampling-based algorithm
Stability
ISSN:2072-4292, 2072-4292
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Zusammenfassung:On campus, the complexity of the environment and the lack of regulatory constraints make it difficult to model the environment, resulting in less efficient motion planning algorithms. To solve this problem, HD-Map-guided sampling-based motion planning is a feasible research direction. We proposed a motion planning algorithm for autonomous vehicles on campus, called HD-Map-guided rapidly-exploring random tree (HDM-RRT). In our algorithm, A collision risk map (CR-Map) that quantifies the collision risk coefficient on the road is combined with the Gaussian distribution for sampling to improve the efficiency of algorithm. Then, the node optimization strategy of the algorithm is deeply optimized through the prior information of the CR-Map to improve the convergence rate and solve the problem of poor stability in campus environments. Three experiments were designed to verify the efficiency and stability of our approach. The results show that the sampling efficiency of our algorithm is four times higher than that of the Gaussian distribution method. The average convergence rate of the proposed algorithm outperforms the RRT* algorithm and DT-RRT* algorithm. In terms of algorithm efficiency, the average computation time of the proposed algorithm is only 15.98 ms, which is much better than that of the three compared algorithms.
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ISSN:2072-4292
2072-4292
DOI:10.3390/rs15020487