A lane change detection and filtering approach for precise longitudinal position of on-road vehicles

Abstract

This paper presents a lane change detection and filtering approach for precise longitudinal localization. Maps, the road which is traveled along and the trajectory of the vehicle are used as the only inputs. Straight-road transformation is proposed for lane change detection on the curve, and the filtering algorithm is designed for online positioning process. Experiments demonstrate the improvement of longitudinal position precision by lane change detection and filtering, and show the application of this approach on terrain localization.