Along-track Localization for Cooperative Autonomous Vehicles

Elwan Héry (1) , Philippe Xu (2, 1) , Philippe Bonnifait (2, 1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 Labex MS2T - Laboratoire d'Excellence "Maîtrise des Systèmes de Systèmes Technologiques"

— Localization is a key problem for autonomous vehicle navigation. The use of high-definition maps and perception algorithms allows now to have lane-level accurate pose estimation in terms of cross-track and heading error. In this paper, we focus on the along-track localization of cooperative vehicles. We introduce a one-dimensional formulation of the lo-calization problem by considering curvilinear coordinates. The covariance intersection filter is derived in one dimension leading to a minimum variable filter which allows multiple vehicles to cooperate while keeping consistent localization estimates. We show that the along-track localization error is directly dependent on the relative orientation between the trajectories followed by the cooperating vehicles. Experiments with two autonomous electric vehicles were conducted to evaluate the proposed approach.

Domaines: Robotique [cs.RO]

Elwan Héry, Philippe Xu, Philippe Bonnifait. Along-track Localization for Cooperative Autonomous Vehicles. 28th IEEE Intelligent Vehicles Symposium (IV 2017), Jun 2017, Los Angeles, CA, United States. pp.511-516, ⟨10.1109/IVS.2017.7995769⟩. ⟨hal-01490727v2⟩