Vehicle Localization Using Radar Calibration with Disconnected GPS
- Authors
- Kim, Jeong Sik; Choi, Woo Young; Jeong, Yong Woo; Chung, Chung Choo
- Issue Date
- Dec-2021
- Publisher
- IEEE
- Keywords
- Vehicle to Everything (V2X); Localization; Radar; Autonomous Driving; Calibration
- Citation
- 2021 21ST INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2021), pp.1371 - 1376
- Indexed
- SCOPUS
- Journal Title
- 2021 21ST INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2021)
- Start Page
- 1371
- End Page
- 1376
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/140055
- DOI
- 10.23919/ICCAS52745.2021.9649889
- ISSN
- 2093-7121
- Abstract
- As autonomous driving technology develops, research on localization methods is becoming more important. In this paper, we propose global positioning system (GPS) and radar calibration method, and vehicle localization method using a radar sensor based on vehicle to everything (V2X). For vehicle localization, we first propose GPS and radar calibration, which is a way to solve the differences between detection points. With this calibration, during disconnection of GPS, we calculate the position of the ego vehicle by using the rotational transform with vehicle chassis data and radar data. The localization process estimated the absolute coordinates of the ego vehicle by adding the relative coordinates of the ego vehicle and the absolute coordinates of the object vehicle. The advantage of this method what this paper proposes is that if radar is available, we can localize continuously.
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