一种基于离线地图的无人车指控软件设计  

AN UNMANNED VEHICLE COMMAND AND CONTROL SOFTWARE DESIGN BASED ON OFFLINE MAP

作　　者：曹梦婷 谷玉海[1] 修嘉芸 徐小力[1] Cao Mengting;Gu Yuhai;Xiu Jiayun;Xu Xiaoli(Key Laboratory of Modern Measurement&Control Technology Ministry of Education,Beijing Information Science&Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学现代测控技术教育部重点实验室,北京100192

出　　处：《计算机应用与软件》2023年第12期16-20,共5页Computer Applications and Software

基　　金：促进高校内涵发展——学科建设专项资助项目;北京学者计划资助项目(2015-025)。

摘　　要：针对无人车在野外环境下没有网络信号的情况,提出一种基于离线地图的无人车指控软件设计,以较低的成本制作出离线地图并实现无人车的路径规划。获取符合需求的离线地图数据;调用Leaflet实现地图基本的标记功能;调用开源地图引擎OSRM实现并基于其中的分层压缩(Contraction Hierarchies,CH)算法获取到最短路径。测试结果表明,该方法实现了无人车在离线地图上的轨迹规划功能,对于之后无人车的离线服务研究有一定的借鉴和帮助作用。Aimed at the situation that the unmanned vehicle has no network signal in the field environment,an unmanned vehicle command and control software design based on offline maps is proposed,which can produce offline maps at a lower cost and realize the path planning of unmanned vehicles.The offline map data that met the requirements was obtained.Leaflet was used to implement the basic map marking function.The open-source map engine OSRM was introduced to obtain the shortest path based on its contraction hierarchies.The test results show that the method realizes the trajectory planning function of the unmanned vehicle on the offline map,and has a certain reference and help for the subsequent research on the offline service of the unmanned vehicle.

关 键 词：无人车 离线地图 路径规划 分层压缩算法 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]