Performance Evaluation of the 2D Positioning by M-CubITS in Plural Traffic Lane Roads

In this paper, the authors propose a 2D vehicle positioning system which integrates the driving lane recognition subsystem and the M-CubITS subsystem that is the positioning system for the safety of a vehicle. To carry out the performance evaluation of the proposal system, the authors conduct vehicle driving experiments with lane changes in plural traffic lane roads. The driving lane recognition subsystem determines the driving lane (lateral direction) in plural traffic lanes by using the color information, the lane changes information, and the traffic lane type information. The M-CubITS subsystem performs the positioning (lateral and longitudinal direction) in the driving lane that is detected by the driving lane recognition subsystem. The authors do vehicle driving experiments, and present the driving lane recognition rate and the precision of the positioning. The effectiveness of the proposed system is shown by the results of the performance evaluation.