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How to drive along the lane without maps and positioning for autonomous driving on the highway of self-driving vehicles
How to drive along the lane without maps and positioning for autonomous driving on the highway of self-driving vehicles
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机译：如何在没有地图和定位的自动驾驶车辆高速公路上沿着车道驾驶
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摘要
In one embodiment, instead of using map data, a relative coordinate system is utilized to assist perception of the driving environment surrounding an ADV for some driving situations. One of such driving situations is driving on a highway. Typically, a highway has fewer intersections and exits. The relative coordinate system is utilized based on the relative lane configuration and relative obstacle information to control the ADV to simply follow the lane and avoid potential collision with any obstacles discovered within the road, without having to use map data. Once the relative lane configuration and obstacle information have been determined, regular path and speed planning and optimization can be performed to generate a trajectory to drive the ADV. Such a perception system is referred to as a relative perception system based on a relative coordinate system.
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