Journal ArticleDOI
Fusing GNSS, Dead-Reckoning, and Enhanced Maps for Road Vehicle Lane-Level Navigation
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TLDR
An algorithm for lane-level road vehicle navigation that integrates GNSS, dead-reckoning (odometry and gyro), and map data in the fusion process is presented, presenting better results than some state-of-the-art methods of the literature.Abstract:
Nowadays, it is common that road vehicle navigation systems employ maps to represent the vehicle positions in a local reference. The most usual process to do that consists in the estimation of the vehicle positioning by fusing the Global Navigation Satellite System (GNSS) and some other aiding sensors data, and the subsequent projection of these values on the map by applying map-matching techniques. However, it is possible to benefit from map information also during the process of fusing data for positioning. This paper presents an algorithm for lane-level road vehicle navigation that integrates GNSS, dead-reckoning (odometry and gyro), and map data in the fusion process. Additionally, the proposed method brings some benefits for map-matching at lane level because, on the one hand, it allows the tracking of multiple hypothesis and on the other hand, it provides probability values of lane occupancy for each candidate segment. To do this, a new paradigm that describes lanes as piece-wise sets of clothoids was applied in the elaboration of an enhanced map (Emap). Experimental results in real complex scenarios with multiple lanes show the suitability of the proposed algorithm for the problem under consideration, presenting better results than some state-of-the-art methods of the literature.read more
Citations
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Journal ArticleDOI
GNSS Position Integrity in Urban Environments: A Review of Literature
TL;DR: An overview of the past and current literature discussing the GNSS integrity for urban transport applications is provided so as to point out possible challenges faced by GNSS receivers in such scenario.
Journal ArticleDOI
Lane-Level Integrity Provision for Navigation and Map Matching With GNSS, Dead Reckoning, and Enhanced Maps
TL;DR: This paper presents a pioneering novel solution to the problem of combined positioning and map matching with integrity provision at the lane level by means of a multiple-hypothesis particle-filter-based algorithm.
Journal ArticleDOI
Survey on Ranging Sensors and Cooperative Techniques for Relative Positioning of Vehicles.
TL;DR: This survey offers the reader a comprehensive review on different techniques for vehicle relative positioning, the important performance indicators when it comes to relative positioning of vehicles, the different technologies that are both commercially available and currently under research, their expected performance and their intrinsic limitations.
Journal ArticleDOI
Creating Enhanced Maps for Lane-Level Vehicle Navigation
TL;DR: A paradigm for Emap definition and creation on which every road lane is represented and topologically connected to the rest of lanes is introduced.
Journal ArticleDOI
Generation of a Precise and Efficient Lane-Level Road Map for Intelligent Vehicle Systems
TL;DR: A precise and efficient lane-level road-map generation system that conforms to the requirements all together for intelligent vehicle systems such as autonomous driving and the experimental results show that the proposed mapping system outperforms conventional systems in terms of the road- map requirements.
References
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Book
Estimation and Tracking: Principles, Techniques, and Software
Yaakov Bar-Shalom,Xiao-Rong Li +1 more
TL;DR: Brief review of linear algebra and linear systems brief review of probability theory and statistics some basic concepts in estimation linear estimation in static systems linear dynamic systems with random inputs state estimation in discrete-timelinear dynamic systems estimation for Kinematic models.
Journal ArticleDOI
Particle filters for positioning, navigation, and tracking
Fredrik Gustafsson,Fredrik Gunnarsson,Niclas Bergman,Urban Forssell,Jonas Jansson,Rickard Karlsson,Per-Johan Nordlund +6 more
TL;DR: The technique of map matching is used to match an aircraft's elevation profile to a digital elevation map and a car's horizontal driven path to a street map and it is shown that the accuracy is comparable with satellite navigation but with higher integrity.
Journal ArticleDOI
Current map-matching algorithms for transport applications: State-of-the art and future research directions
TL;DR: The constraints and limitations of existing map matching algorithms are uncovered by an in-depth literature review and some ideas for monitoring the integrity of map-matching algorithms are presented.
Sigma-Point Kalman Filters for Nonlinear Estimation and Sensor Fusion: Applications to Integrated Navigation
TL;DR: In this article, a probabilistic framework called Sigma-Point Kalman Filters (SPKF) was applied to the problem domain addressed by the extended Kalman Filter (EKF).
Journal ArticleDOI
Autonomous vehicle positioning with GPS in urban canyon environments
Youjing Cui,Shuzhi Sam Ge +1 more
TL;DR: Simulation results show that the constrained method presented can solve the urban canyon problems successfully and a state-augmentation method is proposed to simultaneously estimate the positions of the GPS receiver and the parameters of the line.