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Sensors 2015, 15(8), 20779-20798;

GPS/DR Error Estimation for Autonomous Vehicle Localization

Electronics Engineering, Konkuk University, Seoul 143-701, Korea
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)
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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

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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.

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