基于道路结构的无定位车辆出库转向控制方法

针对地下车库内定位信号差，无人驾驶车辆不能获得自身位置信息来完成在全局参考系中路径规划的问题，提出利用道路边沿的几何结构，从理论上推导转向控制的方法以完成车辆的出库。首先，给出车辆的驾驶场景和用于仿真的低速车辆模型；然后根据道路边沿数据，从理论上推导车辆相对于道路的位姿以及转弯处的转向曲率，并给出车辆在各路段的转向角控制方法；最后，在获取理想与非理想的道路边沿数据情况下，分别仿真采用该方法的车辆行驶状况。仿真结果表明，在道路边沿测量误差小于±20 cm的情况下，方法可以实现无定位的自主驾驶。

Road Structure Based Steering Control Without Localization for Vehicle out of Garage

To solve the problem that unmanned vehicles cannot acquire their positions for planning a path in global reference frame when they are driving in an underground garage where the localization signal is weak, a steering control method was deduced theoretically by considering geometry of the road edge for aiding vehicles out of garage. Firstly, driving scene of the vehicle and low speed vehicle model were given. Then, vehicle pose relative to road edge and turning curvature at turning point were deduced theoretically, in addition to the steering angle control method at each road segment. Finally, driving behavior by the method was simulated under the condition that road edge data are ideal and non-ideal, respectively. Simulation results show that the method can realize self-driving without using location if the road edge measurement error is limited.