A Cooperative GNSS Positioning System for Accurate Vehicle Safety Application Development

Typical Global Navigation Satellite System (GNSS) receivers offer precision in the order of meters. This error margin is however excessive for different vehicular applications, such as forward collision warning, intersection collision warning, or hard braking sensing. This work develops a precision positioning system that uses Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communications to cooperatively improve the GNSS performance. To reach this goal, the proposed system executes a novel algorithm based on an empirical methodology, implemented by elliptical and spherical geometries to adjust the positions received from the GNSS. We evaluate the system performance carrying out real experiments using state-of-art vehicular communication equipments at the campus of the Federal University of Rio de Janeiro (UFRJ). The results show an accuracy level under 1.0 (where-in-lane) and 1.5 m (whichlane) for lane and road axis, respectively, achieved by the system using GNSS as unique positioning sensor. The proposed system meets vehicular safety applications requirements and reduces the amount of sensors to be installed in vehicles, and consequently decrease costs and avoids compatibility issues.

[1]  T. Vincenty.  DIRECT AND INVERSE SOLUTIONS OF GEODESICS ON THE ELLIPSOID WITH APPLICATION OF NESTED EQUATIONS , 1975 .

[2]  Rudolph M. Kalafus,et al.  Special Committee 104 Recommendations for Differential GPS Service , 1986 .

[3]  F. Ivis.  Calculating Geographic Distance: Concepts and Methods , 2006 .

[4]  Dominique Gruyer,et al.  Collision Probability Assessment for Speed Control , 2008, 2008 11th International IEEE Conference on Intelligent Transportation Systems.

[5]  Andry Rakotonirainy,et al.  Empirical IEEE 802.11p performance evaluation on test tracks , 2012, 2012 IEEE Intelligent Vehicles Symposium.

[6]  Gert F. Trommer,et al.  Cooperative GNSS-based method for vehicle positioning , 2012 .

[7]  Charles F. F. Karney.  Algorithms for geodesics , 2011, Journal of Geodesy.

[8]  Gérard Lachapelle,et al.  Evaluation of GPS-based methods of relative positioning for automotive safety applications , 2012 .

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

[10]  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).

[11]  Ce-Kuen Shieh,et al.  Improving positioning accuracy for VANET in real city environments , 2014, The Journal of Supercomputing.

[12]  Chung-Ming Huang,et al.  Cooperative vehicle collision warning system using the vector-based approach with dedicated short range communication data transmission , 2014 .

[13]  Xuemin Shen,et al.  Connected Vehicles: Solutions and Challenges , 2014, IEEE Internet of Things Journal.

[14]  Mingqin Shao,et al.  Study on Differential GPS Positioning Methods , 2015, 2015 International Conference on Computer Science and Mechanical Automation (CSMA).

[15]  Myoungho Sunwoo,et al.  Precise Localization of an Autonomous Car Based on Probabilistic Noise Models of Road Surface Marker Features Using Multiple Cameras , 2015, IEEE Transactions on Intelligent Transportation Systems.

[16]  Mikhail Gordon,et al.  Lane Change and Merge Maneuvers for Connected and Automated Vehicles: A Survey , 2016, IEEE Transactions on Intelligent Vehicles.

[17]  Klaus C. J. Dietmayer,et al.  Multi-sensor multi-object tracking of vehicles using high-resolution radars , 2016, 2016 IEEE Intelligent Vehicles Symposium (IV).

[18]  Emmanuel Seignez,et al.  A-Contrario Modeling for Robust Localization Using Raw GNSS Data , 2016, IEEE Transactions on Intelligent Transportation Systems.

[19]  K. Wisiol,et al.  GNSS-based vehicle state determination tailored to cooperative driving and collision avoidance , 2016, 2016 European Navigation Conference (ENC).

[20]  Miguel Elias M. Campista,et al.  An error correction algorithm for forward collision warning applications , 2016, 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC).

[21]  Isabelle Fantoni,et al.  Cooperative localization of vehicles sharing GNSS pseudoranges corrections with no base station using set inversion , 2016, 2016 IEEE Intelligent Vehicles Symposium (IV).

[22]  Denis Fernando Wolf,et al.  Feature Detection for Vehicle Localization in Urban Environments Using a Multilayer LIDAR , 2016, IEEE Transactions on Intelligent Transportation Systems.

[23]  Lars Hammarstrand,et al.  Using a single band GNSS receiver to improve relative positioning in autonomous cars , 2016, 2016 IEEE Intelligent Vehicles Symposium (IV).

[24]  Gonzalo Seco-Granados,et al.  Feasibility study of 5G-based localization for assisted driving , 2016, 2016 International Conference on Localization and GNSS (ICL-GNSS).

[25]  Fredrik Gustafsson,et al.  The Future of Automotive Localization Algorithms: Available, reliable, and scalable localization: Anywhere and anytime , 2017, IEEE Signal Processing Magazine.

[26]  Ho Gi Jung,et al.  Sensor Fusion-Based Low-Cost Vehicle Localization System for Complex Urban Environments , 2017, IEEE Transactions on Intelligent Transportation Systems.