After participating in the DARPA Urban Challenge 2007, the Technische Universität Braunschweig decided to continue the work in the field of autonomous driving and all related topics. With a focus on urban scenarios, a project called 'Stadtpilot' (translated: City Pilot) has therefore been initiated in 2008. The paper presents the goals of this project and gives an overview on the current status of the Stadtpilot localization system architecture, which aims to increase RTK availability in urban environments. Therefore, the main components of the system architecture, namely the localisation sensor data fusion and the environment information system are described. Another focus lies on reliability, due to the fact that autonomous driving is a safety critical application. Finally, first results of real driving tests in the city center of Braunschweig are presented. In the next section the authors will introduce the current state of their suggested system architecture. This is followed by a detailed description of the localization sensor data fusion (LSDF), which utilizes functionalities of the car's environment information system (EIS). The concept of EIS is discussed in a separate section. Finally, they will present intermediate results based on real driving test in the city center of Braunschweig.
High precision car localization in urban environments
Symposium Gyro Technology, 2009 ; 17/1-17/20
2009
20 Seiten, 8 Bilder, 13 Quellen
Conference paper
English
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