Terrain-based vehicle localization using an active suspension system

TL;DR

This paper introduces a novel terrain-based vehicle localization method utilizing sensor data from an active suspension system, enabling real-time positioning by matching pitch profiles with terrain maps.

Contribution

It presents a new approach to vehicle localization using active suspension sensors, including terrain mapping, pitch profile extraction, and crowd-sourced map creation.

Findings

Accurate real-time vehicle positioning demonstrated

Effective terrain map creation from sensor data

Robustness validated through experiments

Abstract

This paper, for the first time, presents a terrain-based localization approach using sensor data from an active suspension system. The contribution is four-fold. First, it is shown that a location dependent road height profile can be created from sensor data of the active suspension system. Second, an algorithm is developed to extract a pitch profile from the road height profile data. The ideal pitch profile is vehicle-independent and only depends on the road. This pitch profile generated from an on-board computer is matched with a known terrain map to achieve real-time positioning. Third, a crowd-sourced map creation algorithm is developed to create and improve the terrain map that contains pitch profile. Fourth, experiments have been conducted to validate the accuracy and robustness of the proposed localization approach.