A Course Map Generation and Employment of the Map for Autonomous Driving on Precincts Roads

Abstract

This paper proposes a method of course map generation and the employment of the map for autonomous driving on the precincts roads. This proposal aims at improvement in availability in consideration of the robustness over the position measurement at the time of course map generation and its employment. Generation of a course map is carried out using the information on the moving trajectory by letting instruction driving of the experiment vehicles along a road by manual operation. The position measurement value with RTK-GPS on vehicles is used as the base to the position information on a course. A map is generated by making the moving trajectory into course information using a set of the sequence of a point. At the time of course mapping, in cases where the measurement accuracy of RTK-GPS is poor, it adjusts using a vision system or LRF. This paper also describes an experiment of proposed system using RTK-GPS, vision system, LRF and an experimental vehicle. An experiment of course mapping using an experimental vehicle with RTK-GPS and vision system is described to verify the proposal.