Citation

Hara K, Tanaka Y. Trans. Soc. Automot. Eng. Jpn. 2017; 48(6): 1291-1296.

Copyright

(Copyright © 2017, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.48.1291

PMID

unavailable

Abstract

Vehicle localization based on matching between on-vehicle camera images and high-precision map has been developed for automated driving. We propose a method to associate a map with images by stochastically generating a white line section corresponding to appearance from white line types. Moreover, we propose a robust method by estimating not only the latest location but also the trajectory of the vehicle. The proposed method was tested in Shuto expressway, and the vehicle position was identified with sub-meter accuracy.

Language: ja

Keywords

High-precision map; Intelligent vehicle; Localization; Road environment recognition; Safety