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A High Accuracy Vehicle Positioning System Implemented In A Lane Assistance System When Gps Is Unavailable
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Book Synopsis A High Accuracy Vehicle Positioning System Implemented in a Lane Assistance System when GPS is Unavailable by : Edmund Arpin
Download or read book A High Accuracy Vehicle Positioning System Implemented in a Lane Assistance System when GPS is Unavailable written by Edmund Arpin and published by . This book was released on 2011 with total page 56 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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 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.
Author :University of Minnesota. Intelligent Transportation Systems Institute Publisher : ISBN 13 : Total Pages :60 pages Book Rating :4.3/5 (555 download)
Book Synopsis Annual Report by : University of Minnesota. Intelligent Transportation Systems Institute
Download or read book Annual Report written by University of Minnesota. Intelligent Transportation Systems Institute and published by . This book was released on 2003 with total page 60 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis GPS and Lane Detection for Accurate Trajectories in Vision-based Driver Assistance System by : Di Terry Sun
Download or read book GPS and Lane Detection for Accurate Trajectories in Vision-based Driver Assistance System written by Di Terry Sun and published by . This book was released on 2011 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis discusses the Global Positioning System (GPS), the digital maps and map matching algorithms, the image based lane detection algorithm and the ways of integrating these three techniques together to solve the lane detection problem. GPS has been developed and utilized for more than thirty years. Several industries have been established based on the GPS, and it also helps existing industries to upgrade their services towards more cost effective, fast, and reliable solutions. Digital maps are built to translate the GPS raw data to a human readable format. They contain both the location information and its reference to the earth. The basic digital maps that are used for car navigation contain the road names and their reference to the earth. Since the GPS raw data contains errors, some of the GPS raw locations fall out of the road on digital maps. The map matching algorithms are used to help map the GPS raw data to the occupied road. By correctly locating the occupied route, the device could also provide drivers with some useful information, such as the road geometry in front of the vehicle, reaching traffic lights, etc. Driver assistance systems (DAS) are a new research area considered to be the next revolution of the industry. The lane detection application is a kind of advanced DAS to solve the lane keeping problem. The image based lane detection application use the camera as the sole information source. Several algorithms have been developed to help understand the local environment. Since large volumes of calculations are involved in these algorithms, other information sources can be imported to reduce the computation expense. This thesis presents a solution to utilize and combine the information that comes from two sensors - the GPS and the camera, to provide a light weight solution for the lane detection applications. This thesis introduces some background knowledge of the GPS together with the digital maps and the map matching algorithm. The image based pattern detection techniques are also discussed. The detailed approaches and experiments will be presented at the end.
Book Synopsis Supplementary Vehicle Positioning to Connected Vehicles by : Daiheng Ni
Download or read book Supplementary Vehicle Positioning to Connected Vehicles written by Daiheng Ni and published by . This book was released on 2018 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: The U.S. Department of Transportation (DOT) has recently announced its decision to move on with Connected Vehicle Initiative. This requires future vehicles to be equipped with sensors and communication devices to enable vehicle-to-vehicle and vehicle-to-environment communication for improved safety. As large-scale applications of connected vehicles begin to roll out, a serious problem surfaces, i.e., vehicle positioning. Since many of these applications, such as cooperative collision warning and intersection safety supporting, assume accurate vehicle positioning in real time. Unfortunately, Global Positioning System (GPS) technology may not be adequate to serve the purpose. For example, conventional GPS receivers are accurate to 8-12 meters after removal of selective availability. Though differential GPS may narrow accuracy to 12 meters, it requires base stations and thus is only available at limited locations. In addition, GPS signals are frequently lost if line-of-sight is blocked and this is typically a problem in urban canyon. Therefore, there exists a present need for alternative vehicle position technology that supplements GPS at locations where position accuracy is critical but GPS service is inadequate or unavailable. This collaborative research proposes to investigate the alternatives and explore a viable solution with high reliability, low cost, and sufficient accuracy under all operational conditions.
Book Synopsis The Global Positioning System by : National Research Council
Download or read book The Global Positioning System written by National Research Council and published by National Academies Press. This book was released on 1995-05-31 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Global Positioning System (GPS) is a satellite-based navigation system that was originally designed for the U.S. military. However, the number of civilian GPS users now exceeds the military users, and many commercial markets have emerged. This book identifies technical improvements that would enhance military, civilian, and commercial use of the GPS. Several technical improvements are recommended that could be made to enhance the overall system performance.
Book Synopsis Study of Vehicle Localization Optimization with Visual Odometry Trajectory Tracking by : Dayang Nur Salmi Dharmiza Awang Salleh
Download or read book Study of Vehicle Localization Optimization with Visual Odometry Trajectory Tracking written by Dayang Nur Salmi Dharmiza Awang Salleh and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the growing research on Advanced Driver Assistance Systems (ADAS) for Intelligent Transport Systems (ITS), accurate vehicle localization plays an important role in intelligent vehicles. The Global Positioning System (GPS) has been widely used but its accuracy deteriorates and susceptible to positioning error due to factors such as the restricting environments that results in signal weakening. This problem can be addressed by integrating the GPS data with additional information from other sensors. Meanwhile, nowadays, we can find vehicles equipped with sensors for ADAS applications. In this research, fusion of GPS with visual odometry (VO) and digital map is proposed as a solution to localization improvement with low-cost data fusion. From the published works on VO, it is interesting to know how the generated trajectory can further improve vehicle localization. By integrating the VO output with GPS and OpenStreetMap (OSM) data, estimates of vehicle position on the map can be obtained. The lateral positioning error is reduced by utilizing lane distribution information provided by OSM while the longitudinal positioning is optimized with curve matching between VO trajectory trail and segmented roads. To observe the system robustness, the method was validated with KITTI datasets tested with different common GPS noise. Several published VO methods were also used to compare improvement level after data fusion. Validation results show that the positioning accuracy achieved significant improvement especially for the longitudinal error with curve matching technique. The localization performance is on par with Simultaneous Localization and Mapping (SLAM) SLAM techniques despite the drift in VO trajectory input. The research on employability of VO trajectory is extended for a deterministic task in lane-change detection. This is to assist the routing service for lane-level direction in navigation. The lane-change detection was conducted by CUSUM and curve fitting technique that resulted in 100% successful detection for stereo VO. Further study for the detection strategy is however required to obtain the current true lane of the vehicle for lane-level accurate localization. With the results obtained from the proposed low-cost data fusion for localization, we see a bright prospect of utilizing VO trajectory with information from OSM to improve the performance. In addition to obtain VO trajectory, the camera mounted on the vehicle can also be used for other image processing applications to complement the system. This research will continue to develop with future works concluded in the last chapter of this thesis.
Book Synopsis Development and Evaluation of Positioning Systems for Autonomous Vehicle Navigation by : Rommel E. Mandapat
Download or read book Development and Evaluation of Positioning Systems for Autonomous Vehicle Navigation written by Rommel E. Mandapat and published by . This book was released on 2001 with total page 536 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Multi-sources Fusion Based Vehicle Localization in Urban Environments Under a Loosely Coupled Probabilistic Framework by : Lijun Wei
Download or read book Multi-sources Fusion Based Vehicle Localization in Urban Environments Under a Loosely Coupled Probabilistic Framework written by Lijun Wei and published by . This book was released on 2013 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In some dense urban environments (e.g., a street with tall buildings around), vehicle localization result provided by Global Positioning System (GPS) receiver might not be accurate or even unavailable due to signal reflection (multi-path) or poor satellite visibility. In order to improve the accuracy and robustness of assisted navigation systems so as to guarantee driving security and service continuity on road, a vehicle localization approach is presented in this thesis by taking use of the redundancy and complementarities of multiple sensors. At first, GPS localization method is complemented by onboard dead-reckoning (DR) method (inertial measurement unit, odometer, gyroscope), stereovision based visual odometry method, horizontal laser range finder (LRF) based scan alignment method, and a 2D GIS road network map based map-matching method to provide a coarse vehicle pose estimation. A sensor selection step is applied to validate the coherence of the observations from multiple sensors, only information provided by the validated sensors are combined under a loosely coupled probabilistic framework with an information filter. Then, if GPS receivers encounter long term outages, the accumulated localization error of DR-only method is proposed to be bounded by adding a GIS building map layer. Two onboard LRF systems (a horizontal LRF and a vertical LRF) are mounted on the roof of the vehicle and used to detect building facades in urban environment. The detected building facades are projected onto the 2D ground plane and associated with the GIS building map layer to correct the vehicle pose error, especially for the lateral error. The extracted facade landmarks from the vertical LRF scan are stored in a new GIS map layer. The proposed approach is tested and evaluated with real data sequences. Experimental results with real data show that fusion of the stereoscopic system and LRF can continue to localize the vehicle during GPS outages in short period and to correct the GPS positioning error such as GPS jumps; the road map can help to obtain an approximate estimation of the vehicle position by projecting the vehicle position on the corresponding road segment; and the integration of the building information can help to refine the initial pose estimation when GPS signals are lost for long time.
Book Synopsis IEEE 1994 Position Location and Navigation Symposium by :
Download or read book IEEE 1994 Position Location and Navigation Symposium written by and published by Institute of Electrical & Electronics Engineers(IEEE). This book was released on 1994 with total page 876 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Augmenting Vehicle Localization with Visual Context by : Robert Andrew Rae
Download or read book Augmenting Vehicle Localization with Visual Context written by Robert Andrew Rae and published by . This book was released on 2009 with total page 185 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vehicle self-localization, the ability of a vehicle to determine its own location, is vital for many aspects of Intelligent Transportation Systems (ITS) and telematics where it is often a building block in a more complex system. Navigation systems are perhaps the most obvious example, requiring knowledge of the vehicle's location on a map to calculate a route to a desired destination. Other pervasive examples are the monitoring of vehicle fleets for tracking shipments or dispatching emergency vehicles, and in public transit systems to inform riders of time-of-arrival thereby assisting trip planning. These system often depend on Global Positioning System (GPS) technology to provide vehicle localization information; however, GPS is challenged in urban environments where satellite visibility and multipath conditions are common. Vehicle localization is made more robust to these issues through augmentation of GPS-based localization with complementary sensors, thereby improving the performance and reliability of systems that depend on localization information. This thesis investigates the augmentation of vehicle localization systems with visual context. Positioning the vehicle with respect to objects in its surrounding environment in addition to using GPS constraints the possible vehicle locations, to provide improved localization accuracy compared to a system relying solely on GPS. A modular system architecture based on Bayesian filtering is proposed in this thesis that enables existing localization systems to be augmented by visual context while maintaining their existing capabilities.
Book Synopsis A Hig Accuracy Vehicle Positioning and Guidance System Fusing RFID and LiDAR by : Edmund Phillip Arpin
Download or read book A Hig Accuracy Vehicle Positioning and Guidance System Fusing RFID and LiDAR written by Edmund Phillip Arpin and published by . This book was released on 2008 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Vehicle Lane Position Estimation for Link Level In-vehicle Navigation and Automatic Vehicle Location by : Jie Du
Download or read book Vehicle Lane Position Estimation for Link Level In-vehicle Navigation and Automatic Vehicle Location written by Jie Du and published by . This book was released on 2005 with total page 354 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Advanced BRT written by and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Presented herein is a novel approach to vehicle positioning using RFID technology (Vehicle Positioning System, or VPS). By installing in the road RFID tags encoded with road name or other designation, the specific lane, the direction of travel, and the longitudinal distance from a known reference, a vehicle outfitted with an RFID tag reader can determine its position each time it passes over and reads a tag, thus, providing precisely the information needed for many ITS applications - the longitudinal position of a vehicle in a particular lane on a particular road of the transportation network. Knowledge of lane of travel and distance from a known reference provided by VPS enables many transit applications, including headway control of bus platoons, merge/lane change assistance, rear-end collision avoidance, and bay mark-up applications. For lane assist systems, VPS and a lateral positioning system can augment DGSP in urban areas, providing seamless operation where DGPS accuracy is insufficient for lane keeping. This research focused on designing and building a prototype VPS using existing third party RFID hardware. The hardware was evaluated and characterized to determine if it could be used to create a viable, robust VPS. After the development and characterization of the positioning system, an implementation of a rear-end collision avoidance system was built to demonstrate the use of VPS. Finally, a more sophisticated rear-end collision avoidance system was designed and simulated, after which its implications to the accuracy specifications for VPS were analyzed.
Book Synopsis Analysis of a Differential Global Positioning System as a Sensor for Vehicle Guidance by : Robert Bodor
Download or read book Analysis of a Differential Global Positioning System as a Sensor for Vehicle Guidance written by Robert Bodor and published by . This book was released on 1996 with total page 98 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Autonomous Mobile Robots by : Frank L. Lewis
Download or read book Autonomous Mobile Robots written by Frank L. Lewis and published by CRC Press. This book was released on 2018-10-03 with total page 438 pages. Available in PDF, EPUB and Kindle. Book excerpt: It has long been the goal of engineers to develop tools that enhance our ability to do work, increase our quality of life, or perform tasks that are either beyond our ability, too hazardous, or too tedious to be left to human efforts. Autonomous mobile robots are the culmination of decades of research and development, and their potential is seemingly unlimited. Roadmap to the Future Serving as the first comprehensive reference on this interdisciplinary technology, Autonomous Mobile Robots: Sensing, Control, Decision Making, and Applications authoritatively addresses the theoretical, technical, and practical aspects of the field. The book examines in detail the key components that form an autonomous mobile robot, from sensors and sensor fusion to modeling and control, map building and path planning, and decision making and autonomy, and to the final integration of these components for diversified applications. Trusted Guidance A duo of accomplished experts leads a team of renowned international researchers and professionals who provide detailed technical reviews and the latest solutions to a variety of important problems. They share hard-won insight into the practical implementation and integration issues involved in developing autonomous and open robotic systems, along with in-depth examples, current and future applications, and extensive illustrations. For anyone involved in researching, designing, or deploying autonomous robotic systems, Autonomous Mobile Robots is the perfect resource.
Book Synopsis Improved Land Vehicle Navigation and GPS Integer Ambiguity Resolution Using Enhanced Reduced-IMU/GPS Integration by :
Download or read book Improved Land Vehicle Navigation and GPS Integer Ambiguity Resolution Using Enhanced Reduced-IMU/GPS Integration written by and published by . This book was released on 2014 with total page 458 pages. Available in PDF, EPUB and Kindle. Book excerpt: Land vehicle navigation is primarily dependent upon the Global Positioning System (GPS) which provides accurate navigation in open sky. However, in urban and rural canyons GPS accuracy degrades considerably. To help GPS in such scenarios, it is often integrated with inexpensive inertial sensors. Such sensors have complex stochastic errors which are difficult to mitigate. In the presence of speed measurements from land vehicle, a reduced number of inertial sensors can be used which improve performance and termed as the Reduced Inertial Sensor System (RISS). Existing low-cost RISS/GPS integrated algorithms have limited accuracy due to use of approximations in error models and employment of a Linearized Kalman Filter (LKF). This research developed an enhanced error model for RISS which was integrated with GPS using an Extended Kalman Filter (EKF) for improved navigation of land vehicles. The proposed system was tested on several road experiments and the results confirmed the sustainable performance of the system during long GPS outages. To further increase the accuracy, Differential GPS (DGPS) is employed where carrier phase measurements are typically used. This requires resolution of Integer Ambiguity (IA) that comes at computational and time expense. This research uses pseudorange measurements for DGPS which mitigate large biases due to atmospheric errors and obviate the resolution of IA. These measurements are integrated with the enhanced RISS to filter increased noise and help GPS during signal blockages. The performance of the proposed system was compared with two other algorithms employing undifferenced GPS measurements where atmospheric effects are mitigated using either the Klobuchar model or dual frequency receivers. The proposed system performed better than both the algorithms in positional accuracy, multipath and GPS outages. This research further explored the reduction of Time-to-Fix Ambiguities (TTFA) for land vehicle navigation. To reduce the TTFA through inertial aiding, previous research used high-end Inertial Measurement Units (IMUs). This research uses MEMS grade IMU by integrating the enhanced RISS with carrier phase measurements using EKF. This algorithm was also tested on three road trajectories and it was shown that this integration helps reduce the TTFA as compared to the GPS-only case when fewer satellites are visible.
Book Synopsis System Design and Software Architecture of a Differential Global Positioning System for an Autonomous All Terrain Vehicle by : Siddharth Haresh Ahuja
Download or read book System Design and Software Architecture of a Differential Global Positioning System for an Autonomous All Terrain Vehicle written by Siddharth Haresh Ahuja and published by . This book was released on 2009 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the years, the Global Positioning System (GPS) has evolved to become the de facto navigational and positional system and is used widely across the world. The system promises high accuracies if the navigational signals transmitted by the GPS satellites are observed accurately. Most GPS receivers produced by several manufacturers and used by civilians for navigational purposes have accuracies in the range of 3 to 10 meters. However several scientific and geological surveying applications need the system to provide an accurate positional result in the range of a few millimeters. The Differential GPS (DGPS) technique provides a user with the capability of calculating their position accurate within a few millimeters by using a fixed GPS receiver in addition to the roving one. This thesis describes the DGPS technique and provides a system design to implement this technique for an autonomous All Terrain Vehicle (ATV). The application at hand requires accurate real-time positional data and the architecture of the software used to calculate the same has been described in this report. Both the system design and the architecture are portable and can be used for any real-time positioning application.
