GNSS・ドライブレコーダー・ミリ波レーダ複合によるHDマップを利用した自己位置姿勢推定

抄録

Nowadays high-definition (HD) map is widely used in autonomous driving to acquire correct information of road during driving. At the same time, HD map also needs to be updated promptly when road changes happen, such as the establish of new traffic signs or the expansion of road lanes. Therefore, developing a system that automatically detects road change areas is an essential issue need to be solved. In this paper, we propose a self-position and pose estimation method using a low-cost drive recorder and millimeter-wave radar by estimating and correcting the bias between the positioning result of MMS-Probe and the true value of HD map.