Improved Vehicle Localization on a Map based on Moving Horizon Estimation Integrating External Sensors and GNSS

Recently, most cars are equipped with Global Navigation Satellite System (GNSS), whose deviation on a map can be larger than several meters. For level 2 automated driving, Adaptive Cruise Control (ACC) and Advanced Emergency Braking system (AEBS) require higher accuracy of self-location. In this paper, the authors propose a Moving Horizon Estimation (MHE) that fuses an external sensor and GNSS to improve vehicle localization performance on a map. It is shown that the proposed method can improve the estimated vehicle position on the map and suppress sensor misrecognition, especially when the external sensor's observation is within the evaluation horizon of MHE.

• Record URL:
  https://doi.org/10.11351/jsaeronbun.51.727
• Record URL:
  https://www.jstage.jst.go.jp/article/jsaeronbun/51/4/51_20204390/_pdf
• 
• Record URL:
  https://scholar.google.com/scholar_lookup?title=Improved%20Vehicle%20Localization%20on%20a%20Map%20based%20on%20Moving%20Horizon%20Estimation%20Integrating%20External%20Sensors%20and%20GNSS&author=R.%20Toma&author=Y.%20Ishikawa&author=N.%20Takahashi&author=T.%20Takahama&author=K.%20Nonaka&publication_year=2020
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/02878321
• Authors:
  • Toma, Ryusei
  • Ishikawa, Yasumasa
  • Takahashi, Naoki
  • Takahama, Taku
  • Nonaka, Kenichiro
• Publication Date: 2020-7

Language

• English
• Japanese

Media Info

• Media Type: Digital/other
• Features: Figures; Maps; References; Tables;
• Pagination: pp 727-732
• Serial:
  • Transactions of Society of Automotive Engineers of Japan
  • Volume: 51
  • Issue Number: 4
  • Publisher: Society of Automotive Engineers of Japan
  • ISSN: 0287-8321
  • EISSN: 1883-0811
  • Serial URL: https://www.jstage.jst.go.jp/browse/jsaeronbun
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Automatic vehicle location; Data fusion; Driver support systems; In vehicle sensors; Intelligent vehicles; Level 2 driving automation; Maps
• Identifier Terms: Global Navigation Satellite System
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01748515
• Record Type: Publication
• Source Agency: Japan Science and Technology Agency (JST)
• Files: TRIS, JSTAGE
• Created Date: Aug 24 2020 9:28AM