WFRF:(Tay Wee Peng)
Sökning: WFRF:(Tay Wee Peng) > LaIF: A Lane-Level ...
- Rabiee, Ramtin (författare)
LaIF: A Lane-Level Self-Positioning Scheme for Vehicles in GNSS-Denied Environments
- Artikel/kapitelEngelska2019
Förlag, utgivningsår, omfång ...
- IEEE,2019
- printrdacarrier
Nummerbeteckningar
- LIBRIS-ID:oai:DiVA.org:umu-173723
- https://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-173723URI
- https://doi.org/10.1109/TITS.2018.2870048DOI
Kompletterande språkuppgifter
- Språk:engelska
- Sammanfattning på:engelska
Ingår i deldatabas
- SwePubSwePub
Klassifikation
Anmärkningar
- 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.
Ämnesord och genrebeteckningar
- TEKNIK OCH TEKNOLOGIER Elektroteknik och elektronik hsv//swe
- ENGINEERING AND TECHNOLOGY Electrical Engineering, Electronic Engineering, Information Engineering hsv//eng
- acceleration measurement
- decision theory
- distance measurement
- geographic information systems
- gyroscopes
- inertial navigation
- intelligent transportation systems
- Kalman filters
- nonlinear filters
- object detection
- object tracking
- particle filtering (numerical methods)
- radiofrequency measurement
- radionavigation
- road vehicles
- sensor fusion
- time-of-arrival estimation
- lane-level self-positioning scheme
- GNSS-denied environment
- vehicle self-positioning
- intelligent transportation applications
- information fusion algorithm
- particle filter
- lane-level tracking accuracy
- fine-scale signal measurements
- time-of-arrival measurements
- roadside units
- inertial measurement unit
- extended Kalman filter
- lane-change detection
- radar ranging
- high-resolution digital map
- lane changing behaviors
- radar range measurements
- decision fusion mechanism
- four-lane highway
- tracking framework
- Cramer-Rao lower bound
- visual information
- reliability
- multihypothesis model
- probabilistic model
- gyroscope measurements
- coarse-scale signal measurements
- LaIF
- IMU data
- vehicle position estimation
- transmitters
- radiofrequency signals
- Global Navigation Satellite System
- Radar tracking
- Atmospheric measurements
- Particle measurements
- Acceleration
- Vehicle localization
- GNSS-denied
- lane-level accuracy
- information fusion
- inertial navigation systems
Biuppslag (personer, institutioner, konferenser, titlar ...)
- Zhong, Xionghu (författare)
- Yan, Yongsheng (författare)
- Tay, Wee Peng (författare)
Sammanhörande titlar
- Ingår i:IEEE transactions on intelligent transportation systems (Print): IEEE20:8, s. 2944-29611524-90501558-0016
Internetlänk
Hitta via bibliotek
- IEEE transactions on intelligent transportation systems (Print) (Sök värdpublikationen i LIBRIS)
Till lärosätets databas
Hitta mer i SwePub
- Av författaren/redakt...
- Rabiee, Ramtin
- Zhong, Xionghu
- Yan, Yongsheng
- Tay, Wee Peng
- Om ämnet
-
- TEKNIK OCH TEKNOLOGIER
- TEKNIK OCH TEKNO ...
- och Elektroteknik oc ...
- Artiklar i publikationen
- IEEE transaction ...
- Av lärosätet
- Umeå universitet
Sök utanför SwePub
- Sök vidare i:
- Google Book Search
- Google Scholar
Kungliga biblioteket hanterar dina personuppgifter i enlighet med EU:s dataskyddsförordning (2018), GDPR. Läs mer om hur det funkar här.
Så här hanterar KB dina uppgifter vid användning av denna tjänst.
- Copyright © LIBRIS - Nationella bibliotekssystem
- LIBRIS.kb.se
