# Vehicle Localization and Control on Roads with Prior Grade Map

arXiv: https://arxiv.org/abs/1809.04167 · HTML: https://mlsanity.com/paper/1809.04167/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Sep 2018.

## Built on by (most cited first, 1 of 1)

- [Leveraging Structure from Motion to Localize Inaccessible Bus Stops](https://mlsanity.com/paper/2210.03646/) (2022)

## Abstract (arXiv)

We propose a map-aided vehicle localization method for GPS-denied environments. This approach exploits prior knowledge of the road grade map and vehicle on-board sensor measurements to accurately estimate the longitudinal position of the vehicle. Real-time localization is crucial to systems that utilize position-dependent information for planning and control. We validate the effectiveness of the localization method on a hierarchical control system. The higher level planner optimizes the vehicle velocity to minimize the energy consumption for a given route by employing traffic condition and road grade data. The lower level is a cruise control system that tracks the position-dependent optimal reference velocity. Performance of the proposed localization algorithm is evaluated using both simulations and experiments.