Overview and Perspective of Localization Accuracy for Persistent Autonomous Vehicle Systems

Autonomous vehicle system in urban scenarios requires precise localization. The GPS-based localization approach in its best form even not able to reach the required level of precision due to the attenuation and multipath of the signals in urban scenarios. Cooperative communication and sensor techniques of the on board units of the vehicles promised to show advantages on localization for its applicability in autonomous vehicle systems. This paper presents an overview of localization techniques and their accuracy ranges for the applicability in autonomous vehicle systems. Environmental changes and its impact on localization accuracy is analyzed for V2V and V2I platforms. Further it has been shown that combining cooperative communication and onboard sensor reading of the vehicle produce better localization accuracy for urban vehicular infrastructure. However, the performance depends upon quality of communication and sensing techniques.