2018/09/11 by Roya Firoozi, Firoozi, Roya, Jacopo Guanetti +5
Computer Science · Engineering · #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #Robotics (cs.RO) #Traffic control and management #Vehicle Dynamics and Control Systems #cs.RO
paper · pdf · doi:10.48550/arxiv.1809.04167
arxiv created 2018/09/11 · openalex publication_date 2018/09/11 · arxiv updated 2018/09/13 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We propose a map-aided vehicle localization method for GPS-denied environments. This approach exploits prior knowledge of the road grade map and vehicle on-board sensor measurements to accurately estimate the longitudinal position of the vehicle. Real-time localization is crucial to systems that utilize position-dependent information for planning and control. We validate the effectiveness of the localization method on a hierarchical control system. The higher level planner optimizes the vehicle velocity to minimize the energy consumption for a given route by employing traffic condition and road grade data. The lower level is a cruise control system that tracks the position-dependent optimal reference velocity. Performance of the proposed localization algorithm is evaluated using both simulations and experiments.