Abstract:

Map construction is the foundation of autonomous driving. For the problem that the traditional single map cannot realize the autonomous navigation of unmanned vehicles accurately， a low-cost outdoor multi-layer map is proposed in this paper， which consists of the track layer， static layer and dynamic layer. The track layer is a GNSS topological map while the static layer is a point cloud-grid map based on graph optimization and the dynamic layer is real-time laser point cloud information. Firstly， the absolute position information contained in the track layer is used for global path planning of the unmanned vehicle. Secondly， based on the real-time information of the dynamic layer and the point cloud map of the static layer， the unmanned vehicle is positioned in real-time with high precision. Finally， obstacle detection is implemented on the dynamic layer and the real-time obstacle information is combined with the grid map of the static layer to provide information for obstacle avoidance and local path planning of unmanned vehicles. The proposed map is evaluated in the actual environment and the applicability is verified.

Key words: map construction, multi-layer, positioning, navigation