Localization & Mapping Requirements for Level 2+ Autonomous Vehicles

Tyler G.R. Reid, Andrew Neish, and Brian Manning

Peer Reviewed

Abstract: Autonomous vehicles are being deployed with a spectrum of capability, extending from driver assistance features for the highway in personal vehicles (SAE Level 2+) to fully autonomous fleet ride sharing services operating in complex city environments (SAE Level 4+). This spectrum of autonomy often operates in different physical environments with different degrees of assumed driver in-the-loop oversight and hence have very different system and subsystem requirements. At the heart of SAE Level 2 to 5 systems is localization and mapping, which ranges from road determination for feature geofencing or high-level routing, through lane determination for advanced driver assistance, to where-in-lane positioning for full vehicle control. We assess localization and mapping requirements for different levels of autonomy and supported features. This work provides a framework for system decomposition, including the level of redundancy needed to achieve the target level of safety. We examine several representative autonomous and assistance features and make recommendations on positioning requirements as well map georeferencing and information integrity.
Published in: Proceedings of the 2023 International Technical Meeting of The Institute of Navigation
January 24 - 26, 2023
Hyatt Regency Long Beach
Long Beach, California
Pages: 107 - 123
Cite this article: Reid, Tyler G.R., Neish, Andrew, Manning, Brian, "Localization & Mapping Requirements for Level 2+ Autonomous Vehicles," Proceedings of the 2023 International Technical Meeting of The Institute of Navigation, Long Beach, California, January 2023, pp. 107-123. https://doi.org/10.33012/2023.18634
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