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.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    High precision car localization in urban environments


    Contributors:
    Sasse, A. (author) / Nothdurft, T. (author) / Hecker, P. (author)

    Published in:

    Publication date :

    2009


    Size :

    20 Seiten, 8 Bilder, 13 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Precise vehicle localization in dense urban environments

    Rohde, Jan / Volz, Benjamin / Mielenz, Holger et al. | IEEE | 2016


    Lane-based vehicle localization in urban environments

    Zabihi, S.M. / Beauchemin, S.S. / Medeiros, E.A.M. De et al. | IEEE | 2015


    Vision-GPS Fusion for High Precision Vehicle Localization in Urban Environment

    Hu, Zhehua / Wang, Yunpeng / Yu, Guizhen et al. | ASCE | 2018


    High-Precision Positioning Using Plane-Constrained RTK Method in Urban Environments

    Chen Zhuang / Hongbo Zhao / Yuli He et al. | DOAJ | 2022

    Free access

    HIGH PRECISION VEHICLE LOCALIZATION SYSTEM AND METHOD FOR HIGH PRECISION VEHICLE LOCALIZATION

    HOFFMAN JR ROBERT JOHN / REID ALEXANDER JOHN | European Patent Office | 2019

    Free access