Robust Car Localization for an Autonomous Vehicle in Urban Environments

A. Sasse, T. Nothdurft, P. Hecker

Abstract:	After participating in the DARPA Urban Challenge 2007, the Technische Universität Braunschweig decided to continue the work in the field of autonomous driving and all related topics. With a focus on urban scenarios, a project called ‘Stadtpilot’ (translated: City Pilot) has therefore been initiated in 2008. The paper presents the goals of this project and gives an overview on the current status of the Stadtpilot localization system architecture, which aims to increase RTK availability in urban environments. Therefore, the main components of the system architecture, namely the localisation sensor data fusion and the environment information system are described. Another focus lies on reliability, due to the fact that autonomous driving is a safety critical application. Finally, first results of real driving tests in the city center of Braunschweig are presented.
Published in:	Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009) September 22 - 25, 2009 Savannah International Convention Center Savannah, GA
Pages:	1797 - 1806
Cite this article:	Sasse, A., Nothdurft, T., Hecker, P., "Robust Car Localization for an Autonomous Vehicle in Urban Environments," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 1797-1806.
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