Читать книгу Engineering Autonomous Vehicles and Robots - Shaoshan Liu - Страница 25

A mapping module provides essential geographical information, such as lane configurations and static obstacle information, to the planning and control module. In order to generate real-time motion plans, the planning and control module can combine perception inputs, which detect dynamic obstacles in real time, localization inputs, which generate real-time vehicle poses, and mapping inputs, which capture road geometry and static obstacles.

Currently, fully autonomous vehicles use high definition 3D maps. Such high precision maps are extremely complex and contain a trillion bytes of data to represent not only lanes and roads but also semantic and locations of 3D landmarks in the real world. With HD maps, autonomous vehicles are able to localize themselves and navigate in the mapped area.