Localization of ego-vehicle is one of the most important technologies for autonomous driving. GNSS/INS systems, which integrate GNSS position and inertial measurement, are very useful for autonomous driving, since the system always estimate smooth and real-time measurement. However, there was a problem that the system produces significant drift after long GNSS signal outage. Therefore, we propose a localization method using both GNSS/INS and lane marker detection. In this system, drift error of GNSS/INS measurement is compensated by lane marker measurement. From some experiments, it was confirmed that robust and smooth localization can be achieved by using this system.
Precise position estimation of autonomous vehicle based on map-matching
01.06.2011
1816122 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Precise Position Estimation of Autonomous Vehicle Based on Map-Matching
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