A high accuracy vehicle positioning system implemented in a lane assistance system when GPS Is unavailable.
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A high accuracy vehicle positioning system implemented in a lane assistance system when GPS Is unavailable.

Filetype[PDF-2.74 MB]


English
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  • Creators:
  • Corporate Creators:
    University of Minnesota
  • Subject/TRT Terms:
  • Publication/ Report Number:
    CTS 11-18
  • Resource Type:
    Tech Report
  • Geographical Coverage:
    Minnesota
  • Edition:
    Final report; Aug. 2006-Sept. 2008
  • Corporate Publisher:
    University of Minnesota. Intelligent Transportation Systems Institute
  • Abstract:
    The use of lane assistance systems can reduce the stress levels experienced by drivers and allow for better lane

    keeping in narrow, bus-dedicated lanes. In 2008, the Intelligent Vehicles (IV) Lab at the University of Minnesota

    has developed such a system for this purpose. The IV Lab lane-assist system uses dual frequency differential GPS

    (DGPS) for high accuracy position information. This position information is used in conjunction with a geospatial

    database containing the road geometry and lane boundary positions required for a lane-assistance system. In urban

    environments, where tall buildings, overpasses, and other obstructions to the sky are present, DGPS suffers from

    inaccuracies and outages. This report proposes a method for replacing DGPS sensing with a high accuracy vehicle

    positioning system which fuses data from RFID (Radio Frequency IDentification) and LiDAR (Light Detection and

    Ranging) curb detection.

    A Vehicle Positioning System (VPS) was originally developed by the IV Lab to provide the lane level ("which lane

    on the road") position of a vehicle with respect to a known reference (i.e., a mile marker or start of roadway) by the

    use of encoded position information in RFID tags on the roadway, read by the vehicle. The lateral position

    resolution of VPS is constrained to one lane width, which is insufficient for lane-assistant systems. Thus, in-lane

    level ("where in the lane") lateral position estimation was supplemented by a LiDAR unit that generates an accurate

    position of the vehicle with respect to the curb, which is cross referenced with a map database that provides the

    distance from the lane center to the curb, thus providing the vehicle's lateral offset from the lane center. On-board

    odometry is used to maintain accurate longitudinal position in between tag reads. By fusing the information from

    the VPS, LiDAR, and on-board odometry, high accuracy, "where in lane" level vehicle positioning can be

    maintained from this enhanced VPS during DGPS outages.

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