论文标题
使用GP和蜂窝信号的城市自动车辆导航的基于诚信的路径规划策略
Integrity-Based Path Planning Strategy for Urban Autonomous Vehicular Navigation Using GPS and Cellular Signals
论文作者
论文摘要
在城市环境中开发了一种基于诚信的自动企业（AGV）导航的路径规划策略。假定该车辆通过使用细胞长期进化（LTE）信号来导航，除了全球定位系统（GPS）信号。给定所需的目的地，计算了最佳路径，该路径可以最大程度地减少考虑水平保护水平（HPL）和旅行距离的成本函数。约束是（i）信号错误的节点与总节点的节点的比率低于最大允许比率，并且（ii）沿每个候选路径的HPL都低于水平警报限制（HAL）。为了在车辆驱动之前预测故障和HPL，使用商用射线追踪软件和三维（3D）地形和建筑地图生成了沿候选路径的GPS和LTE伪内。模拟的伪ange是由于城市环境中建筑物的反思而导致的潜在偏见的路径规划算法。示例结果表明，提出的路径计划策略产生的最佳路径在候选路径之间具有最低平均HPL。
An integrity-based path planning strategy for autonomous ground vehicle (AGV) navigation in urban environments is developed. The vehicle is assumed to navigate by utilizing cellular long-term evolution (LTE) signals in addition to Global Positioning System (GPS) signals. Given a desired destination, an optimal path is calculated, which minimizes a cost function that considers both the horizontal protection level (HPL) and travel distance. The constraints are that (i) the ratio of nodes with faulty signals to the total nodes be lower than a maximum allowable ratio and (ii) the HPLs along each candidate path be lower than the horizontal alert limit (HAL). To predict the faults and HPL before the vehicle is driven, GPS and LTE pseudoranges along the candidate paths are generated utilizing a commercial ray-tracing software and three-dimensional (3D) terrain and building maps. Simulated pseudoranges inform the path planning algorithm about potential biases due to reflections from buildings in urban environments. Simulation results are presented showing that the optimal path produced by the proposed path planning strategy has the minimum average HPL among the candidate paths.
