Intelligent Transportation Systems Institute Center for Transportation Studies University of Minnesota
The use of lane assistance systems can reduce the stress levels experienced by drivers and allow for better lane
keeping in narrow, bus-dedicated lanes. In 2008, the Intelligent Vehicles (IV) Lab at the University of Minnesota
has developed such a system for this purpose. The IV Lab lane-assist system uses dual frequency differential GPS
(DGPS) for high accuracy position information. This position information is used in conjunction with a geospatial
database containing the road geometry and lane boundary positions required for a lane-assistance system. In urban
environments, where tall buildings, overpasses, and other obstructions to the sky are present, DGPS suffers from
inaccuracies and outages. This report proposes a method for replacing DGPS sensing with a high accuracy vehicle
positioning system which fuses data from RFID (Radio Frequency IDentification) and LiDAR (Light Detection and
Ranging) curb detection.
A Vehicle Positioning System (VPS) was originally developed by the IV Lab to provide the lane level ("which lane
on the road") position of a vehicle with respect to a known reference (i.e., a mile marker or start of roadway) by the
use of encoded position information in RFID tags on the roadway, read by the vehicle. The lateral position
resolution of VPS is constrained to one lane width, which is insufficient for lane-assistant systems. Thus, in-lane
level ("where in the lane") lateral position estimation was supplemented by a LiDAR unit that generates an accurate
position of the vehicle with respect to the curb, which is cross referenced with a map database that provides the
distance from the lane center to the curb, thus providing the vehicle's lateral offset from the lane center. On-board
odometry is used to maintain accurate longitudinal position in between tag reads. By fusing the information from
the VPS, LiDAR, and on-board odometry, high accuracy, "where in lane" level vehicle positioning can be
maintained from this enhanced VPS during DGPS outages.
Intelligent Transportation Systems Institute
Center for Transportation Studies
University of Minnesota
Arpin, Eddie; Shankwitz, Craig; Donath, Max.
A High Accuracy Vehicle Positioning System Implemented in a Lane Assistance System when GPS Is Unavailable.
Intelligent Transportation Systems Institute Center for Transportation Studies University of Minnesota.
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