Ego-Lane Index Estimation Based on Lane-Level Map and LiDAR Road Boundary Detection

Correct ego-lane index estimation is essential for lane change and decision making for intelligent vehicles, especially in global navigation satellite system (GNSS)-challenged environments. To achieve this, we propose an ego-lane index estimation approach in an urban scenario based on particle filte...

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Autori principali:	Baoguo Yu, Hongjuan Zhang, Wenzhuo Li, Chuang Qian, Bijun Li, Chaozhong Wu
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	MDPI AG 2021-10-01
Serie:	Sensors
Soggetti:	ego-lane index estimation lane-level map particle filter road boundary detection LiDAR GNSS
Accesso online:	https://www.mdpi.com/1424-8220/21/21/7118
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