Fault-Free Integrity and Continuity for Driverless Urban Vehicle Navigation with Multi-Sensor Integration: A Case Study in Downtown Chicago

Nagai, Kana; Spenko, Matthew; Henderson, Ron; Pervan, Boris; Illinois Institute of Technology

Advanced Search

Select up to three search categories and corresponding keywords using the fields to the right. Refer to the Help section for more detailed instructions.

Search our Collections & Repository

Advanced Search
Custom Query

All these words:

For very narrow results

This exact word or phrase:

When looking for a specific result

Any of these words:

Best used for discovery & interchangable words

None of these words:

Recommended to be used in conjunction with other fields

Language:

Dates

Publication Date Range:

to

Document Data

Title:

Document Type:

Library

Collection:

Series:

People

Author:

Clear All

Query Builder

Query box

Clear All

For additional assistance using the Custom Query please check out our Help Page

ROSA P serves as an archival repository of USDOT-published products including scientific findings, journal articles, guidelines, recommendations, or other information authored or co-authored by USDOT or funded partners. As a repository, ROSA P retains documents in their original published format to ensure public access to scientific information.

i

Fault-Free Integrity and Continuity for Driverless Urban Vehicle Navigation with Multi-Sensor Integration: A Case Study in Downtown Chicago

2022-01-01
By Nagai, Kana ; Spenko, Matthew ; Henderson, Ron ; ...

[PDF-4.40 MB]

English

Details You May Also Like

Details:

Creators:

Nagai, Kana ; Spenko, Matthew ; Henderson, Ron ; Pervan, Boris

Nagai, Kana ; Spenko, Matthew ; Henderson, Ron ; Pervan, Boris Less -
Corporate Creators:

Illinois Institute of Technology
Subject/TRT Terms:

[+]

Autonomous Vehicles Case Studies Data Fusion Intelligent Vehicles Laser Radar
Resource Type:

Tech Report
Geographical Coverage:

Chicago (Illinois) ; United States

Chicago (Illinois) ; United States Less -
Corporate Publisher:

Illinois Institute of Technology
Abstract:

Driverless vehicles must operate with a safety integrity level, but urban environments degrade GNSS navigation accuracy and thereby fault-free integrity. Integration with INS helps maintain continuity, but position errors drift over time without GNSS signals. Whether modern navigation systems can provide satisfactory integrity for driverless vehicles throughout a city is still undetermined. This research investigates how GNSS and INS, when appropriately augmented by LiDAR ranging from local landmarks, can safely navigate vehicles through a real-world urban environment. We begin by defining safety requirements for driverless vehicles under fault-free conditions and developing measurement models for multi-sensor integrated navigation systems using an EKF. The critical elements of urban navigation are then discussed, including individual INS noise parameter specifications and the effect of velocity updates. Simulations along a nine-kilometer-long urban transect in downtown Chicago show that velocity updates can extend navigation continuity by bridging intermittent GNSS signal availability. However, position reference updates at 35-meter intervals, in our case LiDAR ranges from local landmarks, are needed to achieve 100% navigation availability through the transect.
Format:

PDF
Collection(s):

US Transportation Collection
Main Document Checksum:

[+]

urn:sha-512:c9e2389f219b4010d52c1306b09808cc37a7ce527824cc359cdd11015ab9a234f9e5d7df0a7285f405f5de396ab0221fbe32cf9d0c449492413f2b91c5966e6b
Download URL:

https://rosap.ntl.bts.gov/view/dot/79791/dot_79791_DS1.pdf
File Type:

No Additional Files

More +

Fault-Free Integrity and Continuity for Driverless Urban Vehicle Navigation with Multi-Sensor Integration: A Case Study in Downtown Chicago

Details:

Supporting Files

You May Also Like