Map-Aided Localization with Lateral Perception

Dominique Gruyer (1) , Rachid Belaroussi (1) , Marc Revilloud (1)

1 IFSTTAR/COSYS/LIVIC - Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs

Accurate localization of a vehicle is a challenging task as GPS available on the market are not designed for lane-level accuracy application. Although dead reckoning helps, cumulative errors from inertial sensors result in a integration drift. This paper presents a new method of localization based on sensors data fusion. An accurate digital map of the lane marking is used as a powerful additional sensor. Road markings are detected by processing two lateral cameras to estimate their distance to the vehicle. Coupled with the map data in a EKF filter it improves the ego-localization obtained with inertial and GPS measurements. The result is a vehicle localization at an ego-lane level of accuracy, with a lateral error of less than 10 centimeters.

Mots clés: AIDE A LA CONDUITE; LOCALISATION; GPS; VEHICULE; GLOBAL POSITIONING SYSTEM

Domaines: Réseaux et télécommunications [cs.NI]

Dominique Gruyer, Rachid Belaroussi, Marc Revilloud. Map-Aided Localization with Lateral Perception. IEEE Intelligent Vehicles Symposium, Jun 2014, France. 7p. ⟨hal-01056258⟩