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

Details

• Creators:
  Arpin, Edmund ; Shankwitz, Craig ; Donath. Max
• Corporate Creators:
  University of Minnesota
• Subject/TRT Terms:
  Automatic Control Buses Buses--Automatic Control Bus Lanes Global Positioning System Intelligent Transportation Systems Wireless Communication Systems
• 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.
  
  
• Format:
  PDF
• Collection(s):
  University Transportation Centers US Transportation Collection
• Main Document Checksum:
  urn:sha256:3360e9e6c4891d42bba94f9d6d4ef69b423cd8661fb3e6e4df7ddca1cab03696
• Download URL:
  https://rosap.ntl.bts.gov/view/dot/23176/dot_23176_DS1.pdf
• File Type:
  [PDF - 2.74 MB ]