Automotive Innovation ›› 2019, Vol. 2 ›› Issue (2): 110-120.doi: 10.1007/s42154-019-00061-5
Concept Study of a Self-localization System for Snow-Covered Roads Using a Four-Layer Laser Scanner
Concept Study of a Self-localization System for Snow-Covered Roads Using a Four-Layer Laser Scanner
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Tetsushi Mimuro1, Naoya Taniguchi2, Hiroyuki Takanashi3
1. Faculty of Systems Science and Technology Akita Prefectural University, Yurihonjo, Japan
2. Graduate School of Systems Science and Technology, Akita Prefectural University, Yurihonjo, Japan
3. College of Engineering, Nihon University, Koriyama, Japan
摘要：
Many advanced driver assistance systems have entered
the market, and automated driving technologies have been developed. Many of
them may not work in adverse weather conditions. A forward-looking camera, for example, is the most popular system used
for lane detection but does not work for a snow-covered road. The present paper
proposes a self-localization system for snowy roads when the roadsides are
covered with snow. The system employs a four-layer laser scanner and onboard
sensors and uses only pre-existing roadside snow poles provided for drivers in
a snowy region without any other road infrastructure. Because the landscape
greatly changes in a short time during a snowstorm and snow removal works, it
is necessary to restrict the landmarks used for self-localization to tall
objects, like snow poles. A system incorporating this technology will support a
driver’s efforts to keep to a lane even in a heavy snowstorm.