Abstract
ABSTRACT: Lane line is one of the important environmental information used in various self-localization methods. However, the effect of lane lines fading or wears overtime on localization accuracy is not clear. This paper investigates effects of road markings wear on ZNCC-based map matching accuracy. As a priori or an observation, LiDAR-based intensity maps of the surrounding environment within a certain height range from the road surface were generated. The true position of ego-vehicle is obtained using the post-processed data of GNSS-IMU measurements. In map matching the Zero-means Normalized Cross- Correlation (ZNCC) between maps of prior-knowledge and observation was used. The pixel of the maximum correlation is regarded as the matched position. The results indicated that frequent map updates can reduce lateral errors to less than ±0.25 m regardless of the actual state of the white line. Insufficient map updates can cause negative effects on matching at road markings. For robustness against changes in the surrounding environment, it is ideal to increase the contribution degree of lane lines by repairing lane lines and updating the map at simultaneously.
