论文标题
2级以上自动驾驶汽车的本地化和映射要求
Localization & Mapping Requirements for Level 2+ Autonomous Vehicles
论文作者
论文摘要
自动驾驶汽车正在以各种能力的方式部署，从个人车辆的高速公路（SAE 2级以上）的驾驶员援助功能扩展到完全自主的车队乘车共享服务在复杂的城市环境中运行（SAE级别4+）。这种自主权通常在不同程度的假定驾驶员内部监督的不同物理环境中运行，因此具有非常不同的系统和子系统要求。 SAE 2至5级系统的核心是本地化和映射，其范围从特征地理上的道路确定或高级路由到高级驾驶员援助的车道确定到车道上的位置以进行全车辆控制。我们评估不同级别的自主权和支持特征的本地化和映射要求。这项工作为系统分解提供了一个框架，包括实现目标水平所需的冗余水平。我们检查了几个代表性的自主和援助功能，并就定位要求提出建议，并映射地理发行和信息完整性。
Autonomous vehicles are being deployed with a spectrum of capability, extending from driver assistance features for the highway in personal vehicles (SAE Level 2+) to fully autonomous fleet ride sharing services operating in complex city environments (SAE Level 4+). This spectrum of autonomy often operates in different physical environments with different degrees of assumed driver in-the-loop oversight and hence have very different system and subsystem requirements. At the heart of SAE Level 2 to 5 systems is localization and mapping, which ranges from road determination for feature geofencing or high-level routing, through lane determination for advanced driver assistance, to where-in-lane positioning for full vehicle control. We assess localization and mapping requirements for different levels of autonomy and supported features. This work provides a framework for system decomposition, including the level of redundancy needed to achieve the target level of safety. We examine several representative autonomous and assistance features and make recommendations on positioning requirements as well map georeferencing and information integrity.
