Vehicle to Infrastructure-Based LiDAR Localization Method for Autonomous Vehicles

Abstract

The localization of autonomous vehicles using light detection and ranging (LiDAR) sensors relies on high-definition (HD) maps, which are essential for accurate positioning. However, the large storage capacity required for HD maps poses challenges for real-time performance. To address this issue, we propose a vehicle to infrastructure (V2I)-based LiDAR localization method. In this approach, real-time HD maps are transmitted to vehicles in the vicinity of the infrastructure, enabling localization without the need for map data. We conducted tests to determine the optimal size of the HD maps and the distance between vehicles and the infrastructure, considering the impact on transmission speed. Additionally, we compared the matching performance between the complete HD map and sub maps received from the infrastructure, to evaluate the effectiveness of our method in a qualitative manner.