Fig. 1. Experimental Platform

Fig. 2. Schematic diagram of map processing process

Fig. 3. Location based on prior maps

Fig. 4. Different positioning time consumption and total operation time situation

Fig. 5. Frequency distribution of different positioning time consumption

Fig. 6. Comparison of positioning error data before and after model improvement

Fig. 7. Comparison of data before and after improvement of the vehicle attitude estimation model

Fig. 8. Global path planning and its effectiveness comparison

Fig. 9. Comparison of planned path curvature