MODELING OF UNCERTAIN ENVIRONMENT BASED ON MULTI-SCALE GRID METHOD

摘要：

　　In the research domain of intelligent driving technology,modeling of the dynamic and uncertain environment is very important for path planning.The accuracy and computational efficiency of path planning depend on environment modeling to a great extent.Inspired by selective attention mechanism of human,this paper proposes multi-scale grid method to model the road environment of intelligent vehicle.The road environment is divided into multi-scale grids.The grids representing the regions close to the vehicle are of large size.The grids representing the regions far away from the vehicle are of small size.The multi-scale gird function is presented to calculate the size of grid.Experimental results show that the proposed algorithm provides an efficient solution to the conflict between computational complexity and modeling accuracy.

关键词： Path planning Environment modeling Selective attention Multi-scale grid

作者: Jianhui Zhao Peng Jia Shaobo Fu

作者单位: Military Transportation University,Tianjin 300161,China Military Transportation University,Tianjin 300161,China;Institute of Chinese Electronic Equipment Sy

会议类型: 国际会议

会议名称: 2012 2nd IEEE International Conference on Cloud Computing and Intelligence Systems (2012年第2届IEEE云计算与智能系统国际会议(IEEE CCIS2012))

会议地点: 杭州

会议语种:英文

页码: 1651-1655

在线出版日期: 2012-10-30（万方平台首次上网日期，不代表论文的发表时间）