Citation

Suganuma N, Uozumi T. Trans. Soc. Automot. Eng. Jpn. 2011; 42(5): 1151-1156.

Copyright

(Copyright © 2011, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.42.1151

PMID

unavailable

Abstract

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. owever, there was a problem that the system produces significant drift after long GNSS wave 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.

Language: ja

Keywords

Robotics; Localization; Autonomous driving system; GNSS/INS; Kalman filter; Lane marker detection