Overview & Design Goals
概述与设计目标
The Localization Stack of Autoware Universe is responsible for real-time estimation of the vehicle's 6-DoF pose (position and orientation) and kinematic state (velocity, angular velocity) in the global map coordinate frame. It sits between the Sensing layer and the Planning & Control layer, serving as the foundation for autonomous driving.
In port IGV (Intelligent Guided Vehicle), straddle carrier, and other industrial scenarios, the localization system faces multiple challenges: GNSS signal blockage by gantry cranes and containers causing positioning outages; repetitive stacked containers causing LiDAR point cloud matching to converge to incorrect positions; loading zones requiring centimeter-level lateral accuracy for precise docking; and tire slippage and IMU vibration noise from heavy vehicles during low-speed start-stop operations.
Core Design Goals
| Goal | Description | Implementation |
|---|---|---|
Multi-source Redundancy | Backup available when any single sensor fails | NDT + YabLoc + AR Tag + LiDAR Marker + Eagleye |
High-frequency Smooth Output | Meet control module requirements for low latency and low jitter | EKF fuses 10Hz absolute positioning + 100Hz relative motion → 50Hz output |
Self-diagnostics | Each module reports its own health status | Publish sensor timeout, score drops, etc. via /diagnostics topic |
Modular & Extensible | Developers can independently add new localization sources | ROS 2 node-based design + Pose Estimator Arbiter integration |