Passive Sensor Integration for Vehicle Self-Localization in Urban Traffic Environment

This research proposes an accurate vehicular positioning system which can achieve lane-level performance in urban canyons. Multiple passive sensors, which include Global Navigation Satellite System (GNSS) receivers, onboard cameras and inertial sensors, are integrated in the proposed system. As the main source for the localization, the GNSS technique suffers from Non-Line-Of-Sight (NLOS) propagation and multipath effects in urban canyons. This paper proposes to employ a novel GNSS positioning technique in the integration. The employed GNSS technique reduces the multipath and NLOS effects by using the three-dimensional (3D) building map. In addition, the inertial sensor can describe the vehicle motion, but has a drift problem as time increases. This paper develops vision-based lane detection, which is firstly used for controlling the drift of the inertial sensor. Moreover, the lane keeping and changing behaviors are extracted from the lane detection function, and further reduce the lateral positioning error in the proposed localization system. The authors evaluate the integrated localization system in the challenging city urban scenario. The experiments demonstrate the proposed method has sub-meter accuracy with respect to mean positioning error.

• Record URL:
  • https://doi.org/10.3390/s151229795
• Record URL:
  • http://www.mdpi.com/1424-8220/15/12/29795
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/14248220
• Supplemental Notes:
  • © 2015 Yanlei Gu et al.
• Authors:
  • Gu, Yanlei
  • Hsu, Li-Ta
  • Kamijo, Shunsuke
• Publication Date: 2015

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; Photos;
• Pagination: pp 30199-30220
• Serial:
  • Sensors
  • Volume: 15
  • Issue Number: 12
  • Publisher: MDPI AG
  • ISSN: 1424-8220
  • Serial URL: http://www.mdpi.com/journal/sensors
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Automobile navigation systems; Canyons; In vehicle sensors; Lane changing; Motion; Positioning; Sensors
• Identifier Terms: Global Navigation Satellite System
• Uncontrolled Terms: Lane keeping
• Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01603073
• Record Type: Publication
• Files: TRIS
• Created Date: Jun 28 2016 4:22PM