Global vehicle positioning is usually done by means of satellite navigation. The most popular Global Navigation Satellite System is the Global Positioning System (GPS). Applying this system the user is able to localize himself with an accuracy of about 10 meters depending on the environmental conditions. This kind of unaided vehicle positioning using uncorrected GPS measurements is prevalently used for routing tasks and strategical planning, but it is unsuitable for advanced driver assistance applications. This work is usually motivated by requirements defined by the target applications. Especially cooperative assistance systems, like those recommended by the Car-2-Car research community, and autonomous vehicle guidance often rely on highly accurate vehicle positioning. Most of these applications as discussed in ask for lane accuracy, but this term is ambiguous and depends not on the position accuracy only. In fact, the answer to the question of lane accuracy is affected by several parameters. Therefore, the definition of lane accuracy is essential for the development of future vehicle localization systems and needs to be done beforehand. This paper presents an approach to quantify the term of lane accuracy by trying to take all relevant influences into account. It focuses on the interaction between the accuracies of the localization system and the digital map. The latter is used in most applications to match the vehicle position to a specific lane. Furthermore the probability to be in the correct lane will be discussed as a parameter to define lane accuracy. The paper is organized as follows. In Section 2 the probabilistic model to evaluate a single epoch is derived. Within the first step of this derivation an ideal map is assumed. Based on this discussion, the additional influence of map uncertainties will be considered. In the third section this model will be applied to current and future accuracies of positioning systems as well as digital maps. The results of this evaluation will be compared with requirements of future advanced driver assistance systems which are based on vehicle positioning.


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    Title :

    On the definition of lane accuracy for vehicle positioning systems


    Contributors:


    Publication date :

    2010


    Size :

    5 Seiten, 7 Bilder, 8 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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