A Lane-Level Positioning Method Based on Vision and Millimeter Wave Radar

doi:10.16183/j.cnki.jsjtu.2018.01.006

Journal of Shanghai Jiaotong University ›› 2018, Vol. 52 ›› Issue (1): 33-38.doi: 10.16183/j.cnki.jsjtu.2018.01.006

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A Lane-Level Positioning Method Based on Vision and Millimeter Wave Radar

ZHAO Xianga,b,YANG Minga,b,WANG Chunxiangc,WANG Binga,b

a. Department of Automation; b. Shanghai Key Laboratory of Navigation and Location Services; c. Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China

Online:2018-01-01 Published:2018-01-01

Abstract

Abstract: A lane-level positioning method based on vision and millimeter wave radar is proposed. A camera is used for lane recognition with circular curve model and a millimeter wave radar is used for road curb re-cognition by detecting the stationary railways alongside. Lane-level positioning is then calculated by comparing the relative distance of lane and curb with the road prior information obtained from a low precision global position system (GPS). The results show that the lane-level positioning method proposed in this paper can achieve good positioning accuracy in city and highway scenes.

Key words: lane marking, road curb, lane-level positioning, millimeter wave radar, global position system (GPS)

CLC Number:

U 495

ZHAO Xianga,b,YANG Minga,b,WANG Chunxiangc,WANG Binga,b. A Lane-Level Positioning Method Based on Vision and Millimeter Wave Radar[J]. Journal of Shanghai Jiaotong University, 2018, 52(1): 33-38.

References

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A Lane-Level Positioning Method Based on Vision and Millimeter Wave Radar

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