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arXiv · 1809.04167

Vehicle Localization and Control on Roads with Prior Grade Map

Roya Firoozi·Jacopo Guanetti·Roberto Horowitz·Francesco Borrelli
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Abstract

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.

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Roya Firoozi, Jacopo Guanetti, Roberto Horowitz, Francesco Borrelli. 2018-09-11. Vehicle Localization and Control on Roads with Prior Grade Map. https://arxiv.org/abs/1809.04167

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