Map based localization of autonomous vehicle and its public urban road driving evaluation

Kanazawa University started public urban road experiment with the Suzu city government in Ishikawa prefecture since 2015. Although, there are many public road experiments all over the world, it was first experiment among Japanese University. The city has problem about depopulation and lack of public transport system. Therefore, autonomous vehicle is expected to be used as a part of public transport system in the city. In this project, autonomous vehicle runs about 6.6km including urban area in the city. One of most important and challenging thing is to localize the position precisely and robustly. Therefore, in this paper, localization algorithm used for public urban road driving test is proposed, and result of public urban road driving is evaluated.