Ego-Lane Index Estimation Based on Lane-Level Map and LiDAR Road Boundary Detection

Ego-Lane Index Estimation Based on Lane-Level Map and LiDAR Road Boundary Detection

Correct ego-lane index estimation is essential for lane change and decision making for intelligent vehicles, especially in global navigation satellite system (GNSS)-challenged environments. To achieve this, we propose an ego-lane index estimation approach in an urban scenario based on particle filte...

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Bibliographic Details
Main Authors: Baoguo Yu, Hongjuan Zhang, Wenzhuo Li, Chuang Qian, Bijun Li, Chaozhong Wu
Format: Article
Language:English
Published: MDPI AG 2021-10-01
Series:Sensors
Subjects:
ego-lane index estimation
lane-level map
particle filter
road boundary detection
LiDAR
GNSS
Online Access:https://www.mdpi.com/1424-8220/21/21/7118

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