Improved Vehicle Localization on a Map based on Moving Horizon Estimation Integrating External Sensors and GNSS

Abstract

Recently, most cars are equipped with Global Navigation Satellite System (GNSS), whose deviation on a map can be larger than several meters. For level 2 automated driving, Adaptive Cruise Control (ACC) and Advanced Emergency Braking system (AEBS) require higher accuracy of self-location. In this paper, we propose a Moving Horizon Estimation (MHE) that fuses an external sensor and GNSS to improve vehicle localization performance on a map. It is shown that the proposed method can improve the estimated vehicle position on the map and suppress sensor misrecognition, especially when the external sensor's observation is within the evaluation horizon of MHE.