The low-cost global navigation satellite systems combined with an inertial navigation system (GNSS/INS) used most frequently for vehicle localization show errors up to 10 m, approximately, even in open-sky environments such as highways. To reduce this error on highways, this paper proposes a localization method based on lane endpoints. Since a lane endpoint frequently appears on a road and can be detected in close proximity even by a low-cost monocular camera, it is a very useful landmark for precise localization. However, the lane width is generally less than 3.5 m, and the localization error from the GNSS is about 10 m. Therefore, if an ego-lane is not identified, the lane endpoints detected in an ego-lane can be falsely corresponded to the lane endpoints in the other lane of a map. This paper proposes an in-lane localization method that uses lane endpoints, the relation between a camera and a road, and the estimated vehicle’s orientation from a map. In addition, this paper proposes an ego-lane identification method that generates a hypothesis about an ego vehicle position per lane by using the proposed in-lane localization method and verifies each hypothesis by the projection of lane endpoints and an additional landmark such as a road sign. The average error of the proposed in-lane localization method is 0.248 m on highways. The success rate of the proposed ego-lane identification method is 99.28% by one trial and reaches 100% by fusing the results.


    Access

    Download


    Export, share and cite



    Title :

    In-Lane Localization and Ego-Lane Identification Method Based on Highway Lane Endpoints


    Contributors:
    Kyoungtaek Choi (author) / Jae Kyu Suhr (author) / Ho Gi Jung (author)


    Publication date :

    2020




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    LANE IDENTIFICATION SYSTEM, LANE IDENTIFICATION DEVICE, AND LANE IDENTIFICATION METHOD

    IKEFUJI DAISUKE / PRASAD HEMANT SHIVSAGAR | European Patent Office | 2024

    Free access

    Eight lane dynamometer highway

    Lewis, O.G. / Risher, Jr., R.R. / Wilson, J.A. | Engineering Index Backfile | 1959


    Lane sensing through lane marker identification for lane centering/keeping

    ZHANG WENDE / LITKOUHI BAKHTIAR BRIAN / LEE JIN-WOO | European Patent Office | 2017

    Free access

    Highway Lane Change Assistant

    Ruder, M. / Enkelmann, W. / Garnitz, R. et al. | British Library Conference Proceedings | 2003


    LANE MARKING LOCALIZATION

    WANG MINGDONG / QIAN CHENZHE / MEI XUE | European Patent Office | 2019

    Free access