Sensor Integration for Autonomous Vehicle Self-Localization in Urban City
| Project/Area Number |
16F16350
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| Research Category |
Grant-in-Aid for JSPS Fellows
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| Allocation Type | Single-year Grants |
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| Section | 外国 |
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| Research Field |
Perceptual information processing
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| Research Institution | The University of Tokyo |
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Principal Investigator |
上條 俊介 東京大学, 大学院情報学環・学際情報学府, 准教授 (70334357)
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| Co-Investigator(Kenkyū-buntansha) |
GU YANLEI 東京大学, 大学院情報学環・学際情報学府, 外国人特別研究員
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| Project Period (FY) |
2016-11-07 – 2019-03-31
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| Project Status |
Completed (Fiscal Year 2018)
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| Budget Amount *help |
¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 2018: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 2017: ¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 2016: ¥600,000 (Direct Cost: ¥600,000)
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| Keywords | Autonomous driving / Vehicle localization / Sensor fusion / autonomous driving / vehicle localization / sensor fusion |
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| Outline of Annual Research Achievements |
Vehicle self-localization in urban environment is a challenging but significant topic for autonomous driving and driving assistance. Both motion planning and vehicle cooperation need the accurate position information. This research focused on both passive sensor-based and active sensor-based vehicle self-localization systems.
At the beginning of this research project, we firstly proposed to integrate 3D map based GNSS with other passive sensors: Inertial Measurement Unit (IMU), vehicle speedometer and an onboard camera. We conducted a series of tests in different places of Tokyo city. The experiment results demonstrate that the proposed passive sensor-based localization system can achieve sub-meter accuracy with respect to positioning error mean. After that, we focused on active sensor-based vehicle self-localization with the abstract map. Experiments conducted in one of the urban areas of Tokyo show that even though we extremely shrank the map size, we could preserve the mean error of the localization about 50 centimeters. In the past year, we extend our research to smartphone based pedestrian positioning and navigation system. Research result indicated that using map and context information can improve pedestrian positioning accuracy in the city urban environment.
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| Research Progress Status |
平成30年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
平成30年度が最終年度であるため、記入しない。
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Report
(3 results)
Research Products
(22 results)
