Concept Study of a Self-localization System for Snow-covered Roads Using a Four-layer Laser Scanner

Many advanced driver assistance systems have entered the market, and automated driving technologies have been developed. Many of them may not work in adverse weather conditions. A forward-looking camera, for example, is the most popular system used for lane detection but does not work for a snow-covered road. The present paper proposes a self-localization system for snowy roads when the roadsides are covered with snow. The system employs a four-layer laser scanner and onboard sensors and uses only pre-existing roadside snow poles provided for drivers in a snowy region without any other road infrastructure. Because the landscape greatly changes in a short time during a snowstorm and snow removal works, it is necessary to restrict the landmarks used for self-localization to tall objects, like snow poles. A system incorporating this technology will support a driver’s efforts to keep to a lane even in a heavy snowstorm.