GPS/DR Error Estimation for Autonomous Vehicle Localization

Sensors

Byung-Hyun Lee¹  Jong-Hwa Song¹  Jun-Hyuck Im¹  Sung-Hyuck Im²  Moon-Beom Heo²  Gyu-In Jee¹ 

[1] Electronics Engineering, Konkuk University, Seoul 143-701, Korea; E-Mails:;Satellite Navigation Team, Korea Aerospace Research Institute (KARI), Daejeon 305-806, Korea; E-Mails:

关键词: GPS/DR error estimation;    lane level positioning;    autonomous vehicles;    vision;    waypoint;   

DOI  :  10.3390/s150820779

来源: mdpi

【 摘 要 】

Autonomous vehicles require highly reliable navigation capabilities. For example, a lane-following method cannot be applied in an intersection without lanes, and since typical lane detection is performed using a straight-line model, errors can occur when the lateral distance is estimated in curved sections due to a model mismatch. Therefore, this paper proposes a localization method that uses GPS/DR error estimation based on a lane detection method with curved lane models, stop line detection, and curve matching in order to improve the performance during waypoint following procedures. The advantage of using the proposed method is that position information can be provided for autonomous driving through intersections, in sections with sharp curves, and in curved sections following a straight section. The proposed method was applied in autonomous vehicles at an experimental site to evaluate its performance, and the results indicate that the positioning achieved accuracy at the sub-meter level.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.