A Practical and Economical Ultra-wideband Base Station Placement Approach for Indoor Autonomous Driving Systems

Table 4

Accuracy requirements of location in parking lot area.

Areas	Features	Permissible standard deviation of 90% regional positioning error
Vehicle lane	High speed and simple situation	Driving direction 10 cm, vertical driving direction 20 cm
Plane intersection	Low speed and complex situation	10 cm
Ramp	Low speed and complex situation	Driving direction 10 cm, vertical driving direction 20 cm
Entrance and exit	Low speed and complex situation	Standard deviation 10 cm
Parking space	Low speed and simple situation	Driving direction 20 cm, vertical driving direction 20 cm