Vehicle Trajectory Estimation based on Drive Recorder Data

In the present study, a method for estimating the self-position of a vehicle using data recorded by a drive recorder is investigated. In order to confirm the performance of the self-position estimation method, an experiment was conducted using a simulator. The self-position of a vehicle was estimated using image registration based on brightness between a bird's-eye view image made from a vehicle's front image and a 2D map image of the GNSS positioning location. As a result, if road boundary features were found in the bird's-eye view image, the proposed method is able to estimate the vehicle's self-position more accurately than GNSS, regardless of the existence of road markings. In addition, on straight roads with road boundary features in only one direction, the vehicle's self-position estimation was accurate enough to identify the lane in which the vehicle is currently located relative to the direction of the brightness gradient on a 2D map.