title: GPS/DR Error Estimation for Autonomous Vehicle Localization.
abstract: 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.
authors: Electronics Engineering, Konkuk University, Seoul 143-701, Korea. maximan@konkuk.ac.kr.
authors: Byung-Hyun
authors: BH
authors: Lee
authors: Electronics Engineering, Konkuk University, Seoul 143-701, Korea. hwaya@konkuk.ac.kr.
authors: Jong-Hwa
authors: JH
authors: Song
authors: Electronics Engineering, Konkuk University, Seoul 143-701, Korea. junhyuck@konkuk.ac.kr.
authors: Jun-Hyuck
authors: JH
authors: Im
authors: Satellite Navigation Team, Korea Aerospace Research Institute (KARI), Daejeon 305-806, Korea. ish@kari.re.kr.
authors: Sung-Hyuck
authors: SH
authors: Im
authors: Satellite Navigation Team, Korea Aerospace Research Institute (KARI), Daejeon 305-806, Korea. hmb@kari.re.kr.
authors: Moon-Beom
authors: MB
authors: Heo
authors: Electronics Engineering, Konkuk University, Seoul 143-701, Korea. gijee@konkuk.ac.kr.
authors: Gyu-In
authors: GI
authors: Jee
keywords: GPS/DR error estimation; autonomous vehicles; lane level positioning; vision; waypoint