Development of a Self-localization Technology with LiDAR Data Processing Utilizing Landmark Information

ランドマーク情報を活用したLiDAR データ処理による自己位置推定技術の開発*

In order to improve the self-localization accuracy of autonomous driving vehicles, the authors have developed the processing system of LiDAR scan data utilizing the landmark information stored in Advanced map. The data processing system consists of three contents: the optimal prediction window for landmark detection, determination of reliability information of landmark measurement, and adaptive Kalman gain according to the generated reliability information. The experimental results confirmed that high accurate self-localization can be realized with above technologies. After that, from the simulation assuming by using forward scan type LiDAR, the authors calculated the accuracy of the estimated position and confirmed the sufficient performance. In addition, they studied how to update of landmark information. Simulation results of them indicated that utilizing the cloud server will make possible the update of landmark information.高度な自動運転の実現には、高度化された地図と、センシングデータと高度化地図の組み合わせによる自車位置推定が重要である。その地図生成と位置推定を担うLiDAR技術のコンセプトと開発事例を紹介する


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  • Accession Number: 01663879
  • Record Type: Publication
  • Source Agency: Japan Science and Technology Agency (JST)
  • Files: TRIS, JSTAGE
  • Created Date: Jan 31 2018 3:23PM