This point along the route is a critical section of the operation. The clearance on either side of the vehicle is rather small. This makes accurate positioning and navigation very important. 

To achieve this level of accuracy, several technologies are used: 

• GNSS (GPS) 
• IMU (inertial measurement unit)
• Point could map matching (lidar and radar)
• Wheelspeed sensors from the vehicle  
• UWB sensors  

When the vehicle transitions from the outdoor area into the indoor environment, the technologies used for localization gradually shift. Outdoors, the system primarily relies on GPS and LiDAR, which together provide highly accurate positioning down to the centimeter level. 

Once the vehicle moves indoors, localization based on GNSS is lost and the input from the other sensors are becoming more important. This transition must be smooth and controlled to ensure continuous and reliable positioning.