越野环境下高精地图关键技术和应用展望  

Key Technologies and Application Prospects for High-definition Map in Off-road Environments

作　　者：李兆冬 赵熙俊 杨婷婷 齐晓隆 周昌仪 张立明 LI Zhaodong;ZHAO Xijun;YANG Tingting;QI Xiaolong;ZHOU Changyi;ZHANG Liming(China North Artificial Intelligence&Innovation Research Institute,Beijing 100072,China;Collective Intelligence&Collaboration Laboratory,Beijing 100072,China;Beijing Siwei Wanxing Technology Corporation,Beijing 100036,China)

机构地区：[1]中兵智能创新研究院有限公司,北京100072 [2]群体协同与自主实验室,北京100072 [3]北京四维万兴科技有限公司,北京100036

出　　处：《兵工学报》2023年第S02期1-11,共11页Acta Armamentarii

基　　金：启元实验室创新基金项目(S202102010881)。

摘　　要：随着人工智能等技术的发展,无人驾驶技术应运而生,越来越多的无人化装备也投入到作战应用中。面对复杂的越野环境,高精地图可以为无人车辆提供丰富的先验信息,辅助无人车辆进行环境感知、路径规划以及决策等,提升无人车辆越野机动能力。分析高精地图标准化、构建、应用等方面的研究现状,面向无人车辆越野环境下的自主机动任务需求,提出越野环境下高精地图的研究目标与技术体系,归纳总结越野环境下高精地图的基础理论与关键技术,并对越野环境下高精地图的应用发展进行了展望,为高精地图在无人驾驶方面的应用提供了参考。With the development of technologies such as artificial intelligence,the unmanned driving technology has emerged as the times require,and more and more unmanned equipment has also been put into combat applications.In the complex off-road environments,a high-definition map can provide rich prior information for unmanned ground vehicles,assist the unmanned ground vehicles in environmental perception,path planning and decision-making,and improve the off-road mobility of unmanned ground vehicles.This paper analyzes the research status of the standardization,construction and application of high-precision map,puts forward the research objectives and technical systems of high-precision map in off-road environments for the autonomous maneuvering tasks of unmanned vehicles in off-road environments,summarizes the basic theories and key technologies of high-precision map in off-road environments,and looks forward to the application and development of high-precision map in off-road environments,which provides a reference for the convenient application of high-precision map in unmanned driving.

关 键 词：越野环境 高精地图 无人车辆 自主导航 

分 类 号：TJ301[兵器科学与技术—火炮、自动武器与弹药工程]