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A Location Algorithm for Autonomous Vehicles in Large-scale Scenarios Using a Multilayer LIDAR

In this paper, the global positioning algorithm of autonomous vehicles based on a multilayer LIDAR is studied, and two aspects are proposed for the problems encountered by the vehicle positioning SLAM algorithm based on an unknown map in practical application. One is to establish a priori map to improve global consistency. Second, to the problem of excessive amount of the map data, the proposed dynamic loading of subgraphs can speed up the efficiency of point cloud aligned search. The experimental results show that the improved algorithm has good practicality and positioning accuracy, can achieve the robust positioning of vehicles in large-scale scenarios, and prove the feasibility of the algorithm in the actual scene.