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Vehicle Lateral Offset Estimation Using Infrastructure Information for Reduced Compute Load

Publication Type
Conference Paper
Book Title
SAE Technical Paper - WCX SAE World Congress Experience
Publication Date
Page Numbers
1 to 8
Publisher Location
Detroit, Michigan, United States of America
Conference Name
2023 WCX World Congress Experience - SAE International
Conference Location
Detroit, Michigan, United States of America
Conference Sponsor
Conference Date

Accurate perception of the driving environment and a highly accurate position of the vehicle are paramount to safe Autonomous Vehicle (AV) operation. AVs gather data about the environment using various sensors. For a robust perception and localization system, incoming data from multiple sensors is usually fused together using advanced computational algorithms, which historically requires a high-compute load. To reduce AV compute load and its negative effects on vehicle energy efficiency, we propose a new infrastructure information source (IIS) to provide environmental data to the AV. The new energy–efficient IIS, chip–enabled raised pavement markers are mounted along road lane lines and are able to communicate a unique identifier and their global navigation satellite system position to the AV. This new IIS is incorporated into an energy efficient sensor fusion strategy that combines its information with that from traditional sensor. IIS reduce the need for camera imaging, image processing, and LIDAR use and point cloud processing. We show that IIS, when combined with traditional sensors, results in more accurate perception and localization outcomes and a reduced AV compute load.