This paper presents three different map aiding strategies to increase the accuracy of an Extended Kalman Filter based positioning system for road vehicles. For this a lane level map was created and a map matching concept implemented. The map information is used to update the Kalman Filter state vector for height and heading. By the use of map matched data a loop will be closed. To avoid a corruption of the fusion by this loop, the use of map information must be conservative. Also map positions are used for a cross check with a computed multiple solution set. Therefore, several GPS Weighted Least Square (WLSQ) solutions are calculated by excluding one satellite at a time. This set is cross checked with map positions to reduce specific errors. To understand the integration, the fusion algorithm is described. In a further step integration of the enhancement is figured out. All concepts are evaluated with recorded data from a test drive. By the use of a reference system the benefit of each enhancement will be discussed.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    A Map Aided Localization System for Safety-Relevant Automotive Assistance Systems


    Beteiligte:
    Scheide, Tobias (Autor:in) / Hecker, Peter (Autor:in)


    Erscheinungsdatum :

    2014


    Format / Umfang :

    8 Seiten, Bilder, Tabellen, 12 Quellen


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Datenträger


    Sprache :

    Englisch




    A GPS/Galileo Tightly-coupled Localization System for Safety-relevant Automotive Assistance Systems

    Busing, H.-G. / Escher, M. / Scheide, T. et al. | British Library Conference Proceedings | 2011


    Automotive steering safety assistance system

    ZHANG JIE / SU TAO | Europäisches Patentamt | 2016

    Freier Zugriff

    Safety relevant microsystems for automotive applications

    Seidel, H. / Aikele, M. / Rose, M. et al. | Tema Archiv | 2001


    A design methodology for safety-relevant automotive electronic systems

    Benz,S. / Dilger,E. / Dieterle,W. et al. | Kraftfahrwesen | 2004


    A Design Methodology for Safety-Relevant Automotive Electronic Systems

    Dilger, Elmar / Müller-Glaser, Klaus D. / Benz, Stefan et al. | SAE Technical Papers | 2004