[go: up one dir, main page]

Atia et al., 2017 - Google Patents

A low-cost lane-determination system using GNSS/IMU fusion and HMM-based multistage map matching

Atia et al., 2017

Document ID
13492876898207350022
Author
Atia M
Hilal A
Stellings C
Hartwell E
Toonstra J
Miners W
Basir O
Publication year
Publication venue
IEEE Transactions on Intelligent Transportation Systems

External Links

Snippet

This paper presents a low-cost real-time lane-determination system that fuses micro- electromechanical systems inertial sensors (accelerometers and gyroscopes), global navigation satellite system (GNSS), and commercially available road network maps. The …
Continue reading at ieeexplore.ieee.org (other versions)

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/10—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/26—Navigation; Navigational instruments not provided for in preceding groups specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in preceding groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/26—Navigation; Navigational instruments not provided for in preceding groups specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624—Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means

Similar Documents

Publication Publication Date Title
Atia et al. A low-cost lane-determination system using GNSS/IMU fusion and HMM-based multistage map matching
US11639853B2 (en) Self-localization estimation device
Rose et al. An integrated vehicle navigation system utilizing lane-detection and lateral position estimation systems in difficult environments for GPS
US10365363B2 (en) Mobile localization using sparse time-of-flight ranges and dead reckoning
US10788830B2 (en) Systems and methods for determining a vehicle position
Toledo-Moreo et al. Lane-level integrity provision for navigation and map matching with GNSS, dead reckoning, and enhanced maps
Guo et al. A low-cost solution for automatic lane-level map generation using conventional in-car sensors
EP3109589B1 (en) A unit and method for improving positioning accuracy
EP2133662B1 (en) Methods and system of navigation using terrain features
KR101454153B1 (en) Navigation system for unmanned ground vehicle by sensor fusion with virtual lane
US20170023659A1 (en) Adaptive positioning system
Bauer et al. Using high-definition maps for precise urban vehicle localization
KR20200044420A (en) Method and device to estimate position
CN113405555B (en) Automatic driving positioning sensing method, system and device
WO2013149149A1 (en) Method to identify driven lane on map and improve vehicle position estimate
US20190331496A1 (en) Locating a vehicle
Dumble et al. Airborne vision-aided navigation using road intersection features
Tao et al. Road‐Centered Map‐Aided Localization for Driverless Cars Using Single‐Frequency GNSS Receivers
WO2018168961A1 (en) Own-position estimating device
WO2016196717A2 (en) Mobile localization using sparse time-of-flight ranges and dead reckoning
Wang et al. UGV‐UAV robust cooperative positioning algorithm with object detection
EP4113063A1 (en) Localization of autonomous vehicles using camera, gps, and imu
Parra et al. Visual odometry and map fusion for GPS navigation assistance
US20240302183A1 (en) Method and system for crowdsourced creation of magnetic map
US12441361B2 (en) Method and apparatus for operating a vehicle for highly automated driving, and vehicle for highly automated driving