ICCIU: A New Real-Time Lane-Level Positioning Algorithm

Abstract

Previous real-time lane-level positioning algorithms for in-vehicle navigation systems have problems of inaccurate positioning and insufficient robustness. Therefore, this paper proposes a new lane-level positioning algorithm integrating Improved filter method, Curve Circle method and Improved Unet (ICCIU) method. Specifically, in ICCIU algorithm, we design improved filter method to improve the accuracy of original position by combining three filters to enhance image features, propose curve circle method to achieve real-time curve positioning by introducing two movement indicators to get precise curve position and design a light improved Unet method that integrates residual thought and cascading thought to detect the lane, and integrates two new parameters to get more accurate position by reducing the horizontal position errors The experiment results show that evaluation indicators of the improved Unet method are over 20% higher than those of the existing algorithms, the running time of single point positioning is about 28ms and lane-level accuracy is over 96% used by ICCIU, which demonstrates the pretty performance both in feasibility and efficiency of the new algorithm.

Keywords

• Lane-level positioning
• improved filter method
• curve circle
• improved Unet
• ICCIU