Abstract
Precise localization is one of the most important technologies for autonomous vehicles. In the field of ITS, it is often used GNSS/INS navigation system to determine the vehicle position. However, there are critical problems for operating system only with the GNSS/INS, especially the accuracy of it become lower, when GPS/GLONASS dropout by tunnel or multi-path error. To solve these problems, we perform a study to achieve the improvement of the vehicle position with map-matching. In this report, we propose a method to estimate a position correction value using the lane marker map and its present position using LIDAR.
