3 ms·

Snap to lane and quality learned vectors is good to compensate for bad GPS signals.

• dogma1138 9y ago
  For lane snapping to work those lanes need to be in the map to begin with and this is where HD maps come into play since they are on a centimeter scale. There are a lot of way to compensate or correct for many things however your autonomous vehicle does not and should not rely on GPS or any other positioning system for decisions it's just one source of information which it uses for localization. You have your onboard base map, you have the map that the car constructs using it's sensors, you have GPS data, your car might also be downloading portion of updated HD maps say 10 by 10 KM grids as you go, data that it might get from other vehicles all of this is used for localization and decision making. There is nothing wrong with GPS and modern GPS chips like the ones from broadcom are capable of centimeter accuracy (at highway speed it's debatable but still) however you still need a high definition map to take advantage of that because if each pixel on your map is 2 by 2 meters then localization yourself to 10cm won't be possible regardless of which positioning system you use.