Vehicle self-localization in urban canyon using 3D map based GPS positioning and vehicle sensors

Yuaro Wada, Yanlei Gu, Lita Hsu, Shunsuke Kamijo

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

15 Citations (Scopus)

Abstract

Precise and robust vehicle localization in the urban canyon is a new challenge arising in the autonomous driving and driver assistance systems. Sensor integration is proposed to realize this target in his paper. Global Positioning System (GPS) has been proven itself reliable for accurate vehicle self-localization in the open sky scenario. However, it suffers from the effect of multipath and Non-Line-Of-Sigh (NLOS) propagation in urban canyon. The paper proposes to estimate vehicle position by using 3-dimensional (3D) map and ray-racing method in order to overcome the problems in urban canyon. The proposed positioning method distributes numbers of positioning candidates around of reference positioning, and then the weighing of the position candidates are evaluated based on the similarity between the simulated pseudorange and the observed pseudorange. In his way, the additional 3D map information is used to reduce the effect of multipath and NLOS. Moreover, the information from vehicle sensors, including motion sensor and rotation sensor, are integrated with he GPS positioning result in a Kalman filer framework. The integration no only smoothens the trajectory of vehicle, but also reduces the positioning error. The experimental results demonstrate the accuracy of our proposed method and is feasibility for autonomous driving.

Original languageEnglish
Title of host publication2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages792-798
Number of pages7
ISBN (Electronic)9781479967292
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event3rd International Conference on Connected Vehicles and Expo, ICCVE 2014 - Vienna, Austria
Duration: 3 Nov 20147 Nov 2014

Publication series

Name2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings

Conference

Conference3rd International Conference on Connected Vehicles and Expo, ICCVE 2014
Country/TerritoryAustria
CityVienna
Period3/11/147/11/14

Keywords

  • 3D map
  • GPS
  • Kalman filer
  • Sensor integration
  • Urban canyon
  • Vehicle localization

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Automotive Engineering
  • Control and Systems Engineering
  • Transportation

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