Hidden Markov Model (HMM)Autonomous Driving MapRoad Network TopologyStable lane-level map matching is critical for autonomous driving systems. Map matching technology has always been an important connection between vehicle fusion positioning and high-precision map semantic information. This paper proposes ...
1.A method for lane-level map matching for a vehicle, the method comprising:receiving vehicle data comprising a geographical position of the vehicle, a heading of the vehicle, and a speed of the vehicle;receiving sensor data from a perception system of the vehicle, the sensor data comprising ...
Furthermore, a map matching model based on HMM is built up. Three validation experiments are carried out and experimental results show that the positioning error can be reduced to less than 30 cm when driving for about 7 min, which proves the effectiveness of the proposed method. Our work ...
Traditional rule-based approaches are difficult to apply to formulate high-level policies, but this framework demonstrates a more structured and data-efficient end-to-end learning scheme for complete policies on a well-designed low-level controller. Q-masking incorporates prior knowledge, constraints, ...