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Building and Climbing based Visual Navigation Framework for Self-Driving Cars

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Abstract

This paper proposes a visual navigation strategy for self-driving car running on a constant-width road. The task is to process road image with multiple elements information for planing path and providing the basis for acceleration and deceleration. Common road elements are straight, bend, ramp and crossroad. We propose a novel navigation framework (BCVN) that explicitly decomposes the visual navigation task into navigation line extraction, deviation calculation and curvature calculation. The core idea of navigation line extraction is Building-Climbing. Building is to build foundations with a small number of consecutive points. Climbing is to climb points on the basis of the foundations. Building and Climbing are both used in search of bilateral edges. Deviation calculation use the method of dynamic weighting for self-driving car to control steering. Curvature calculation is to obtain a suitable value for self-driving car to achieve acceleration and deceleration control. We use least squares algorithm to assist in bilateral edges search and curvature calculation. We describe our real-time implementation of the BCVN framework, the method of dynamic weight and Building-Climbing. We test the strategy on the self-driving car platform, which shows strong adaptability and high efficiency.

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Acknowledgements

The work is supported by the National Science Foundation of China (Grant no. 51575283), PAPD fund.

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Authors and Affiliations

  1. Jiangsu Engineering Center of Network Monitoring, Nanjing University of Information Science and Technology, Nanjing, 210044, China

    Chengshan Qian

  2. School of Computer and Software, Nanjing University of Information Science and Technology, Nanjing, 210044, China

    Chengshan Qian & Xinfeng Shen

  3. School of Information and Control, Nanjing University of Information Science and Technology, Nanjing, 210044, China

    Yonghong Zhang

  4. Gianforte School of Computing, Montana State University, Bozeman, MT, 59715, USA

    Qing Yang

  5. School of Electronic and Informatics Engineering, Jiangsu University, Zhenjiang, 212013, Jiangsu, China

    Jifeng Shen & Haiwei Zhu

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  1. Chengshan Qian
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  2. Xinfeng Shen
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  3. Yonghong Zhang
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  4. Qing Yang
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  5. Jifeng Shen
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  6. Haiwei Zhu
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Correspondence to Chengshan Qian.

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Qian, C., Shen, X., Zhang, Y. et al. Building and Climbing based Visual Navigation Framework for Self-Driving Cars. Mobile Netw Appl 23, 624–638 (2018). https://doi.org/10.1007/s11036-017-0976-9

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  • DOI: https://doi.org/10.1007/s11036-017-0976-9

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