路側LiDAR支援によるコネクテッド自動運転車の協調測位
Roadside LiDAR Assisted Cooperative Localization for Connected Autonomous Vehicles
高精度3D地図が不要な協調測位手法を提案し、路側LiDARとV2I通信で車両位置を推定して自己測位を補助する。シミュレーションで従来のNDTスキャンマッチングより高精度なことを示した。
著者: Yuze Jiang, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki
分類: cs.RO
原文アブストラクト
Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through techniques like Normal Distributions Transform (NDT) and other advanced 3D registration algorithms. Nonetheless, these approaches are reliant on high-definition 3D point cloud maps, the creation of which involves significant expenditure. When such maps are unavailable or lack sufficient features for 3D registration algorithms, localization accuracy diminishes, posing a risk to road safety. To address this, we proposed to use LiDAR-equipped roadside unit and Vehicle-to-Infrastructure (V2I) communication to accurately estimate the connected autonomous vehicle's position and help the vehicle when its self-localization is not accurate enough. Our simulation results indicate that this method outperforms traditional NDT scan matching-based approaches in terms of localization accuracy.
