Abstract
One could easily believe that the technology surrounding us is already easily capable of determining the current location of a vehicle. Whilst many devices, technologies, mathematical models and methods are available in the automotive world, the complexity of the localization problem still cannot be underestimated. The expectation is to determine in real time with a high degree of accuracy the location of a vehicle in order to make correct autonomous decisions and avoid dangerous and potentially damaging situations. Various research directions have been undertaken since the birth of autonomous driving from the well-known satellite navigation-based systems that rely on offline maps to the more sophisticated approaches that use odometry and existing sensor data using sensor fusion. The aim of the current work is to review what has been achieved so far in this field and the challenges ahead, e.g. the need for a change in paradigm as today's global positioning systems are not intended for machines but humans and are based on the abstraction of human thinking and human decision-making processes.
Highlights
Vehicle localization is one of the four functions of autonomous vehicle navigation, namely mapping, localization, motion and interaction, which are the answers to the four basic questions concerning navigation: Where am I? Where can I move to? How can I do it? How do I interact? If a vehicle is to navigate as expected, these functions need to operate correctly [1]
The popularity of the method lies in the fact that it does not rely on external sources of information and the update rate is determined by the system itself, which overall defines the complementary nature of inertial navigation to Global Navigation Satellite Systems (GNSS)
Despite the fact that satellite-based systems are far from perfect, they are and most likely will continue to be the single most important information source of any localization algorithm combined with digital maps
Summary
Vehicle localization is one of the four functions of autonomous vehicle navigation, namely mapping, localization, motion and interaction, which are the answers to the four basic questions concerning navigation: Where am I? Where can I move to? How can I do it? How do I interact? If a vehicle is to navigate as expected, these functions need to operate correctly [1]. The purpose of in-car localization was driver assistance in the form of helping the driver to navigate Such systems that are currently in use provide information, with some degree of accuracy, to the driver and the driver makes decisions based on the information, which can either be accepted and acted upon or rejected in the form of proceeding in another direction. In the case of autonomous driving, it is quite clear that rejecting position information since the main control algorithm is not an option as this is the only item of data to be used, it must be used and a decision made based on it Satellite-based systems are far from perfect, they are and will continue to be the single most important information source of any localization algorithm
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