Development of Localization Function for Achieving Autonomous Driving in Failing Environment of GNSS
GNSSが失陥する環境における自動運転の実現に向けた自己位置推定機能の開発
- Delivery
- Available on the other site
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- Publication code
- 20264201
- Paper/Info type
- JSAE Transaction
Vol.57 No.2
- Pages
- 406-411(Total 6 p)
- Date of publication
- Mar 2026
- Publisher
- JSAE
- Language
- Japanese
Detailed Information
| Category(J) | 論文 Translation |
|---|---|
| Category(E) | Paper |
| Author(J) | 1) 酒井 貴大, 2) 長谷島 範安, 3) 齋藤 哲平 |
| Author(E) | 1) Takahiro Sakai, 2) Noriyasu Hasejima, 3) Teppei Saitoh |
| Affiliation(J) | 1) (株)日立製作所, 2) (株)日立製作所, 3) (株)日立製作所 |
| Abstract(J) | GNSSの失陥する環境における自動運転システムを実現するため，GNSS，デッドレコニング，点群マッチング，テンプレートマッチングの結果を統合することにより位置姿勢推定を頑健化する手法を構築した．結果，GNSSの失陥する環境で自動運転を継続可能なこと，目標経路への追従誤差を抑制可能なことを確認した． Translation |
| Abstract(E) | In order to develop an autonomous driving system capable of operating in environments where GNSS is unavailable, we have developed a vehicle localization method that integrates GNSS positioning, vehicle information, point cloud matching, and template matching results. Evaluation using data obtained in GNSS-denied environments confirmed that our method effectively mitigates abrupt changes in localization results caused by the instability of GNSS positioning. Furthermore, a comparison with scenarios relying solely on GNSS positioning demonstrated a reduction in path-following error, validating the effectiveness of our proposed approach. |
