High Integrity Lane-level Occupancy Estimation of Road Obstacles Through LiDAR and HD Map Data Fusion

International audience; In the paper a fast and consistent method to manage uncertainties on detected traffic agents providing reliable results is presented. The information provided by a LiDAR-based object detector is combined with a high-definition map to identify the drivable space of the carriageway. Because the use of a HD map requires the use of a localization system, the uncertainty of the estimated pose shall be handled carefully. A novel approach taking into account the localization uncertainty in the perception task by direct propagation of it onto the LiDAR points is proposed. It is compared with a classical propagation that relies on linearized approximation. The good performances of this approach in terms of integrity are demonstrated by the use of real data acquired at the entrance of a roundabout being a particularly complex situation.