Lidar- and V2X-Based Cooperative Localization Technique for Autonomous Driving in a GNSS-Denied Environment
Autonomous vehicles are equipped with multiple heterogeneous sensors and drive while processing data from each sensor in real time. Among the sensors, the global navigation satellite system (GNSS) is essential to the localization of the vehicle itself. However, if a GNSS-denied situation occurs whil...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Remote Sensing |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-4292/14/22/5881 |
| _version_ | 1827643706099892224 |
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| author | Min-Su Kang Jae-Hoon Ahn Ji-Ung Im Jong-Hoon Won |
| author_facet | Min-Su Kang Jae-Hoon Ahn Ji-Ung Im Jong-Hoon Won |
| author_sort | Min-Su Kang |
| collection | DOAJ |
| description | Autonomous vehicles are equipped with multiple heterogeneous sensors and drive while processing data from each sensor in real time. Among the sensors, the global navigation satellite system (GNSS) is essential to the localization of the vehicle itself. However, if a GNSS-denied situation occurs while driving, the accident risk may be high due to the degradation of the vehicle positioning performance. This paper presents a cooperative positioning technique based on the lidar sensor and vehicle-to-everything (V2X) communication. The ego-vehicle continuously tracks surrounding vehicles and objects, and localizes itself using tracking information from the surroundings, especially in GNSS-denied situations. We present the effectiveness of the cooperative positioning technique by constructing a GNSS-denied case during autonomous driving. A numerical simulation using a driving simulator is included in the paper to evaluate and verify the proposed method in various scenarios. |
| first_indexed | 2024-03-09T18:01:39Z |
| format | Article |
| id | doaj.art-0b4268df420a4b2b83411469960ce5fa |
| institution | Directory Open Access Journal |
| issn | 2072-4292 |
| language | English |
| last_indexed | 2024-03-09T18:01:39Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Remote Sensing |
| spelling | doaj.art-0b4268df420a4b2b83411469960ce5fa2023-11-24T09:51:57ZengMDPI AGRemote Sensing2072-42922022-11-011422588110.3390/rs14225881Lidar- and V2X-Based Cooperative Localization Technique for Autonomous Driving in a GNSS-Denied EnvironmentMin-Su Kang0Jae-Hoon Ahn1Ji-Ung Im2Jong-Hoon Won3Department of Electrical and Computer Engineering, Inha University, Incheon 22212, Republic of KoreaDepartment of Electrical and Computer Engineering, Inha University, Incheon 22212, Republic of KoreaDepartment of Electrical and Computer Engineering, Inha University, Incheon 22212, Republic of KoreaSchool of Electronics Engineering, Inha University, Incheon 22212, Republic of KoreaAutonomous vehicles are equipped with multiple heterogeneous sensors and drive while processing data from each sensor in real time. Among the sensors, the global navigation satellite system (GNSS) is essential to the localization of the vehicle itself. However, if a GNSS-denied situation occurs while driving, the accident risk may be high due to the degradation of the vehicle positioning performance. This paper presents a cooperative positioning technique based on the lidar sensor and vehicle-to-everything (V2X) communication. The ego-vehicle continuously tracks surrounding vehicles and objects, and localizes itself using tracking information from the surroundings, especially in GNSS-denied situations. We present the effectiveness of the cooperative positioning technique by constructing a GNSS-denied case during autonomous driving. A numerical simulation using a driving simulator is included in the paper to evaluate and verify the proposed method in various scenarios.https://www.mdpi.com/2072-4292/14/22/5881localizationsensor fusionvehicle-to-everything (V2X)autonomous driving |
| spellingShingle | Min-Su Kang Jae-Hoon Ahn Ji-Ung Im Jong-Hoon Won Lidar- and V2X-Based Cooperative Localization Technique for Autonomous Driving in a GNSS-Denied Environment Remote Sensing localization sensor fusion vehicle-to-everything (V2X) autonomous driving |
| title | Lidar- and V2X-Based Cooperative Localization Technique for Autonomous Driving in a GNSS-Denied Environment |
| title_full | Lidar- and V2X-Based Cooperative Localization Technique for Autonomous Driving in a GNSS-Denied Environment |
| title_fullStr | Lidar- and V2X-Based Cooperative Localization Technique for Autonomous Driving in a GNSS-Denied Environment |
| title_full_unstemmed | Lidar- and V2X-Based Cooperative Localization Technique for Autonomous Driving in a GNSS-Denied Environment |
| title_short | Lidar- and V2X-Based Cooperative Localization Technique for Autonomous Driving in a GNSS-Denied Environment |
| title_sort | lidar and v2x based cooperative localization technique for autonomous driving in a gnss denied environment |
| topic | localization sensor fusion vehicle-to-everything (V2X) autonomous driving |
| url | https://www.mdpi.com/2072-4292/14/22/5881 |
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