TY  - JOUR
PY  - 2011//
TI  - Localization method for autonomous vehicle by fusing GNSS/INS and lane marker detection
JO  - Transactions of Society of Automotive Engineers of Japan
A1  - Suganuma, Naoki
A1  - Uozumi, Takahiro
SP  - 1151
EP  - 1156
VL  - 42
IS  - 5
N2  - Localization of ego-vehicle is one of the most important technologies for autonomous driving. GNSS/INS systems, which integrate GNSS position and inertial measurement, are very useful for autonomous driving, since the system always estimate smooth and real-time measurement. owever, there was a problem that the system produces significant drift after long GNSS wave signal outage. Therefore, we propose a localization method using both GNSS/INS and lane marker detection. In this system, drift error of GNSS/INS measurement is compensated by lane marker measurement. From some experiments, it was confirmed that robust and smooth localization can be achieved by using this system.<p />  <p>Language: ja</p>
LA  - ja
SN  - 0287-8321
UR  - http://dx.doi.org/10.11351/jsaeronbun.42.1151
ID  - ref1
ER  -