Details:

Creators:
Arpin, Edmund ; Shankwitz, Craig ; Donath. Max
Arpin, Edmund ; Shankwitz, Craig ; Donath. Max Less -
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):
US Transportation Collection University Transportation Centers
Main Document Checksum:
[+]
urn:sha256:3360e9e6c4891d42bba94f9d6d4ef69b423cd8661fb3e6e4df7ddca1cab03696
Download URL:
https://rosap.ntl.bts.gov/view/dot/23176/dot_23176_DS1.pdf
File Type:

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