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- Rabiee, Ramtin, et al.
(författare)
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LaIF: A Lane-Level Self-Positioning Scheme for Vehicles in GNSS-Denied Environments
- 2019
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Ingår i: IEEE transactions on intelligent transportation systems (Print). - : IEEE. - 1524-9050 .- 1558-0016. ; 20:8, s. 2944-2961
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Tidskriftsartikel (refereegranskat)abstract
- 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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