Next Article in Journal
Towards a Low-Cost Remote Memory Attestation for the Smart Grid
Next Article in Special Issue
A Framework for Applying Point Clouds Grabbed by Multi-Beam LIDAR in Perceiving the Driving Environment
Previous Article in Journal
High-Performance Motion Estimation for Image Sensors with Video Compression
Previous Article in Special Issue
Investigating Driver Fatigue versus Alertness Using the Granger Causality Network
Article Menu

Export Article

Open AccessArticle
Sensors 2015, 15(8), 20779-20798; doi:10.3390/s150820779

GPS/DR Error Estimation for Autonomous Vehicle Localization

1
Electronics Engineering, Konkuk University, Seoul 143-701, Korea
2
Satellite Navigation Team, Korea Aerospace Research Institute (KARI), Daejeon 305-806, Korea
*
Author to whom correspondence should be addressed.
Academic Editor: Felipe Jimenez
Received: 16 June 2015 / Revised: 30 July 2015 / Accepted: 11 August 2015 / Published: 21 August 2015
(This article belongs to the Special Issue Sensors in New Road Vehicles)

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. View Full-Text
Keywords: GPS/DR error estimation; lane level positioning; autonomous vehicles; vision; waypoint GPS/DR error estimation; lane level positioning; autonomous vehicles; vision; waypoint
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Lee, B.-H.; Song, J.-H.; Im, J.-H.; Im, S.-H.; Heo, M.-B.; Jee, G.-I. GPS/DR Error Estimation for Autonomous Vehicle Localization. Sensors 2015, 15, 20779-20798.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top