Terrain-based road vehicle localization on multi-lane highways

Authors:
Adam J. Dean;Sean N. Brennan
Affiliations:
Department of Mechanical Engineering, Brigham Young University-Idaho, Rexburg, ID;Department of Mechanical Engineering, Penn State University, University Park, PA
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 5
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Abstract

This work develops an algorithm for estimating the lateral lane index of road vehicles on multi-lane roadways by correlating vehicle attitude measurements to terrain maps of the individual lanes of travel. To localize a vehicle, a Bayesian belief algorithm and a particle filter algorithm are described and applied off-line using data collected from two lanes along a local highway. Results demonstrate that terrain-based algorithms are capable of measuring lane index. Because these measurements are immune to lighting conditions, this solution is a good complement to existing lane-detection camera systems.