LaIF : a lane-level self-positioning scheme for vehicles in GNSS-denied environments
Vehicle self-positioning is of significant importance for intelligent transportation applications. However, accurate positioning (e.g., with lane-level accuracy) is very difficult to obtain due to the lack of measurements with high confidence, especially in an environment without full access to a gl...
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| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2019
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/102636 http://hdl.handle.net/10220/49525 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Vehicle self-positioning is of significant importance for intelligent transportation applications. However, accurate positioning (e.g., with lane-level accuracy) is very difficult to obtain due to the lack of measurements with high confidence, especially in an environment without full access to a global navigation satellite system (GNSS). In this paper, a novel information fusion algorithm based on a particle filter is proposed to achieve lane-level tracking accuracy under a GNSS-denied environment. We consider the use of both coarse-scale and fine-scale signal measurements for positioning. Time-of-arrival measurements using the radio frequency signals from known transmitters or roadside units, and acceleration or gyroscope measurements from an inertial measurement unit (IMU) allow us to form a coarse estimate of the vehicle position using an extended Kalman filter. Subsequently, fine-scale measurements, including lane-change detection, radar ranging from the known obstacles (e.g., guardrails), and information from a high-resolution digital map, are incorporated to refine the position estimates. A probabilistic model is introduced to characterize the lane changing behaviors, and a multi-hypothesis model is formulated for the radar range measurements to robustly weigh the particles and refine the tracking results. Moreover, a decision fusion mechanism is proposed to achieve a higher reliability in the lane-change detection as compared to each individual detector using IMU and visual (if available) information. The posterior Cramér-Rao lower bound is also derived to provide a theoretical performance guideline. The performance of the proposed tracking framework is verified by simulations and real measured IMU data in a four-lane highway. |
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