Estimating the map-matched position of a vehicle on a digital map is a key technology for modern navigation and advanced driver assistance systems (ADAS). Inaccurate sensor measurements and a simplified road network representation cause uncertainties in the map-matched position. This paper describes a particle filter method for finding a robust and stable solution for the map-matching problem at the lane-level in ambiguous situations. The proposed approach fuses low-cost sensor data including camera detections of the lane markings with commercial map data. A new spatio-temporal filtering algorithm is introduced for estimating the hypotheses for the map-matched positions together with a confidence measure from the set of weighted particles. The results of tests at road bifurcations indicate that this method produces stable decisions for the correct road segment. It was found that the integration of lane based features improves the performance of the map-matcher at the road level.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Particle filtering for lane-level map-matching at road bifurcations


    Beteiligte:


    Erscheinungsdatum :

    2013-10-01


    Format / Umfang :

    1274261 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Lane level positioning using particle filtering

    Selloum, A. / Betaille, D. / Le Carpentier, E. et al. | IEEE | 2009


    Lane-level map matching

    HANSSON ANDERS / MAGHSOOD ROZA / NORDÉN ELIZA et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    LANE-LEVEL MAP MATCHING

    HANSSON ANDERS / MAGHSOOD ROZA / NORDÉN ELIZA et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Lane level road views

    FOWE JAMES ADEYEMI / STENNETH LEON OLIVER / GIURGIU GAVRIL ADRIAN | Europäisches Patentamt | 2017

    Freier Zugriff