1P1-B11 マップマッチングによる自動運転車両の自己位置推定精度向上に関する研究 : 第一報 Laser Range Finderを用いた白線地図生成

概要

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In this paper, we propose a method to create lane marking maps using Laser Range Finder (LRF)."LEGACY", our experimental vehicle, equipped with two LRFs on the side of vehicle, to detect lane markings in just below of vehicle, and an Applanix GPS-aided inertial navigation system. LRFs are able to detect different reflectivities of object surfaces. The lane marking detection makes use of the differential reflectivity of lane markings and road surface. To create lane marking map, we converts a result of lane marking detection from vehicle coordinates to geodetic coordinates using Applanix ego-position of vehicle. As a result of performing an examination on a highway, it was confirmed that real-time computation is possible for the proposed technique, and it has very high robustness.