Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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AVM Stop-line Detection based Longitudinal Position Correction Algorithm for Automated Driving on Urban Roads

AVM 정지선인지기반 도심환경 종방향 측위보정 알고리즘

  • 김종호 (서울대학교 기계항공공학부) ;
  • 이현성 (서울대학교 기계항공공학부) ;
  • 유진수 (서울대학교 기계항공공학부) ;
  • 이경수 (서울대학교 기계항공공학부)
  • Received : 2019.11.26
  • Accepted : 2020.06.03
  • Published : 2020.06.30
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Abstract

This paper presents an Around View Monitoring (AVM) stop-line detection based longitudinal position correction algorithm for automated driving on urban roads. Poor positioning accuracy of low-cost GPS has many problems for precise path tracking. Therefore, this study aims to improve the longitudinal positioning accuracy of low-cost GPS. The algorithm has three main processes. The first process is a stop-line detection. In this process, the stop-line is detected using Hough Transform from the AVM camera. The second process is a map matching. In the map matching process, to find the corrected vehicle position, the detected line is matched to the stop-line of the HD map using the Iterative Closest Point (ICP) method. Third, longitudinal position of low-cost GPS is updated using a corrected vehicle position with Kalman Filter. The proposed algorithm is implemented in the Robot Operating System (ROS) environment and verified on the actual urban road driving data. Compared to low-cost GPS only, Test results show the longitudinal localization performance was improved.

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References

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