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Cooperative GNSS Positioning aided by Road-Features Measurements

Abstract : Cooperation between road users trough V2X communication is a way to improve GNSS localization accuracy. When vehicles localization systems involve standalone GNSS receivers, the resulting accuracy can be aected by satellite-specic errors of several meters. This paper studies how road-features like lane marking detected by on-board cameras can be exploited to reduce absolute position errors of cooperative vehicles sharing information in real-time in a network. The algorithms considered in this work are based on a error bounded set membership strategy. In every vehicle, a set membership algorithm computes the absolute position and an estimation of the satellite-specic errors by using raw GNSS pseudoranges, lane boundary measurements and a 2D georeferenced road map which provides absolute geometric constraints. As lane-boundary measurements provide essentially cross-track corrections in the position estimation process, cooperation enables the vehicles to improve their own estimates thanks to the dierent orientation of the roads. Set-membership methods are very ecient to solve this problem since they don't involve any independence hypothesis of the errors and so, the same information can be used several times in the computation. Such class of algorithm provides a novel approach to improve position accuracy for connected vehicles guaranteeing the integrity of the computed solution which is pivoting for automated automotive systems requiring guaranteed safety-critical solutions. Results from simulations and real experiments show that sharing position corrections reduces signicantly satellite-specic GNSS errors eects in both cross-track and along-track components. Moreover, it is shown that lane-boundary measurements help reducing estimation errors for all the networked vehicles even those which are not equipped with an embedded perception system.
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Submitted on : Wednesday, March 22, 2017 - 11:07:35 PM
Last modification on : Tuesday, November 16, 2021 - 4:30:10 AM
Long-term archiving on: : Friday, June 23, 2017 - 2:30:20 PM

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Luís Conde Bento, Philippe Bonnifait, Urbano Nunes. Cooperative GNSS Positioning aided by Road-Features Measurements. Transportation research. Part C, Emerging technologies, Elsevier, 2017, 79, pp.42-57. ⟨10.1016/j.trc.2017.01.002⟩. ⟨hal-01494221⟩

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