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Page 16 of 20                  Huang et al. Complex Eng Syst 2023;3:2  I http://dx.doi.org/10.20517/ces.2022.43






































                                                   Figure 10. Manual marking.














                                                Figure 11. The reprojection of HD map.













                                         Figure 12. Available lanes for matching and optimizationp.


               straints. To test the effect of fused localization, the fused HD map localization algorithm designed in this study
               is compared with the comparison of the actual value, as shown in Figure 13.


               The metric commonly used in academia to evaluate trajectories is the root-mean-square deviation (RMSE):
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