Enhanced Inter-Vehicular relative positioning

Intelligent Transportation System (ITS) applications for integral and cooperative vehicle safety as well as some Advanced Driver Assistance Systems (ADASs) benefit from precise determination of relative positions between dynamic traffic objects. With conventional Global Navigation Satellite System (GNSS) measurements, e.g. using Global Positioning System (GPS), the required accuracy cannot be achieved. For this reason, an exchange of GNSS observations via Vehicular Ad-Hoc Network (VANET) is proposed in this paper. In particular, the European Inter-Vehicle Communication (IVC) protocol stack ITS-G5 is employed. With these exchanged GNSS observations, Differential GNSS (DGNSS) or Real-Time Kinematic (RTK) calculations provide a precise relative position vector. However, due to relative movement of traffic objects, this position vector becomes obsolete for increasing transmission delays. For this reason, a mitigating kinematic model is set up and validated experimentally. With respect to fixed RTK solutions, this kinematic model reduces the errors by an average of 61% compared to position calculations ignoring IVC latency.

[1]  Nima Alam,et al.  Cooperative Positioning for Vehicular Networks: Facts and Future , 2013, IEEE Transactions on Intelligent Transportation Systems.

[2]  Relative Positioning Enhancement in VANETs: A Tight Integration Approach , 2013, IEEE Transactions on Intelligent Transportation Systems.

[3]  Nicholas C. Talbot.  Compact Data Transmission Standard for High-Precision GPS , 1996 .

[4]  D.M. Bevly,et al.  Trajectory duplication using relative position information for automated ground vehicle convoys , 2008, 2008 IEEE/ION Position, Location and Navigation Symposium.

[5]  P. Teunissen,et al.  Performance of the LAMBDA Method for Fast GPS Ambiguity Resolution , 1997 .

[6]  M. Kayton,et al.  Global positioning system: signals, measurements, and performance [Book Review] , 2002, IEEE Aerospace and Electronic Systems Magazine.

[7]  Charles Wang,et al.  Vehicle-to-Vehicle Real-Time Relative Positioning Using 5.9 GHz DSRC Media , 2013, 2013 IEEE 78th Vehicular Technology Conference (VTC Fall).

[8]  P. Teunissen.  The least-squares ambiguity decorrelation adjustment: a method for fast GPS integer ambiguity estimation , 1995 .

[9]  S.P. Hoogendoorn,et al.  ADAS safety impacts on rural and urban highways , 2004, IEEE Intelligent Vehicles Symposium, 2004.

[10]  Han-Shue Tan,et al.  Error Analysis and Performance Evaluation of a Future-Trajectory-Based Cooperative Collision Warning System , 2009, IEEE Transactions on Intelligent Transportation Systems.

[11]  Tamitza Toroyan,et al.  Global status report on road safety , 2009, Injury Prevention.

[12]  T. Başar,et al.  A New Approach to Linear Filtering and Prediction Problems , 2001 .

[13]  Steven E. Shladover,et al.  Analysis of Vehicle Positioning Accuracy Requirements for Communication-Based Cooperative Collision Warning , 2006, J. Intell. Transp. Syst..

[14]  P. Riekert,et al.  Zur Fahrmechanik des gummibereiften Kraftfahrzeugs , 1940 .

[15]  Fawzi Nashashibi,et al.  Cooperative multi-vehicle localization using split covariance intersection filter , 2012, 2012 IEEE Intelligent Vehicles Symposium.