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Localization is critical for automated vehicles as it provides essential position, velocity, and heading angle information to perform object tracking, trajectory prediction, motion planning, and control. However, model/environmental uncertainties (including road friction) and noises in sensor measurements have a significant effect on the accuracy of the localization and vehicle state estimation, specially for perceptually degraded conditions. In this article, an integrated localization method based on the fusion of an inertial dead reckoning model and 3D LiDAR-based map matching is proposed and experimentally verified in an urban environment with varying environmental conditions. Leveraging a global navigation satellite system (GNSS), inertial navigation system (INS), and 3D LiDAR point clouds, a novel light point cloud map generation method, which only keeps the necessary point clouds (i.e., buildings and roads regardless of vegetation varying with seasonal change), is proposed. Subsequently, based on the onboard sensors and the pre-built light point cloud map, a dead reckoning model is derived and integrated with the normal distribution transformation (NDT) based map matching algorithm by an error-state-constrained Kalman filter to limit the localization error. On top of the Kalman filter, the stability analysis of the estimator is presented. Finally, the performance of the algorithm is validated in real road experiments under various environmental conditions. Thorough experiments in winter and summer and associated results confirm the advantages of integrating the proposed light point cloud map generation with the dead reckoning model in terms of accuracy and reduced computational complexity.
Xia et al. (Wed,) studied this question.