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We propose a map-aided vehicle localization method for GPS-deniedenvironments. This approach exploits prior knowledge of the road grade map andvehicle on-board sensor measurements to accurately estimate the longitudinalposition of the vehicle. Real-time localization is crucial to systems thatutilize position-dependent information for planning and control. We validatethe effectiveness of the localization method on a hierarchical control system.The higher level planner optimizes the vehicle velocity to minimize the energyconsumption for a given route by employing traffic condition and road gradedata. The lower level is a cruise control system that tracks theposition-dependent optimal reference velocity. Performance of the proposedlocalization algorithm is evaluated using both simulations and experiments.

Vehicle Localization and Control on Roads with Prior Grade Map