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

File Language:
English


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  • Creators:
  • Corporate Creators:
    Illinois Institute of Technology
  • Subject/TRT Terms:
  • Resource Type:
    Tech Report
  • Geographical Coverage:
  • 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):
  • Main Document Checksum:
    urn:sha-512:c9e2389f219b4010d52c1306b09808cc37a7ce527824cc359cdd11015ab9a234f9e5d7df0a7285f405f5de396ab0221fbe32cf9d0c449492413f2b91c5966e6b
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  • File Type:
    Filetype[PDF - 4.40 MB ]
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