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:
  • Global Positioning System
  • Intelligent transportation systems
  • Wireless communication systems
  • Automatic control
  • Bus lanes
  • Bus lanes
  • Buses
  • Intelligent transportation systems
  • Wireless communication systems
  • Buses--Automatic control
  More +
• 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.
  More +
• Format:
  PDF
• Download URL:
  https://rosap.ntl.bts.gov/view/dot/23176/dot_23176_DS1.pdf
• File Type:
  [PDF - 2.74 MB]
• Collection(s):
  University Transportation Centers ; US Transportation Collection
• Main Document Checksum:
  urn:sha-512:a955382286f0f70827a65b06077e10c9e63abfc9667fa4d11ae70bba6b22a8f6e09a975a93cd240749caf24ad0af76b4d1fd51d08341a004efc1547cdd380cd4