Advanced positioning technologies for co-operative systems (original) (raw)
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Advanced positioning technology approach for co-operative vehicle infrastructure systems (cvis)
This paper describes the system approach for a future positioning system to be developed for the European CVIS project (www.cvisproject.org) that deals with an increased transport safety and efficiency using advanced positioning, mapping and communication technologies. Positioning and mapping functions will be provided by the sub-project POMA, where new methods for the combination of several positioning components will be developed. The whole positioning system setup of CVIS will then be deployed at DLR in Berlin. This setup will not only cover onboard components but also infrastructure based sensors and sensor networks together with enhanced positioning algorithms. This new approach shall enable high accuracy and reliability for the following field trials spread over Europe.
Advanced Positioning Technology Approach for Co-operative Vehicle Infrastructure Systems
HAL (Le Centre pour la Communication Scientifique Directe), 2007
This paper describes the system approach for a future positioning system to be developed for the European CVIS project (www.cvisproject.org) that deals with an increased transport safety and efficiency using advanced positioning, mapping and communication technologies. Positioning and mapping functions will be provided by the sub-project POMA, where new methods for the combination of several positioning components will be developed. The whole positioning system setup of CVIS will then be deployed at DLR in Berlin. This setup will not only cover onboard components but also infrastructure based sensors and sensor networks together with enhanced positioning algorithms. This new approach shall enable high accuracy and reliability for the following field trials spread over Europe.
Robust positioning in safety applications for the CVIS project
2010 IEEE Intelligent Vehicles Symposium, 2010
This paper describes hybrid fusion module used in a strong localization context (POMA) for embedded vehicle applications. This work has been developed in order to give an answer to the POMA (Positioning, Maps and local referencing) sub project objectives. These objectives are to provide, for a set of high level applications, a positioning service included a service quality, a metric accuracy (lane) and a robust result. This work is involved in CVIS European project. The use of IMM approach in the Hybrid Fusion module will be justified in comparison to the different current probabilistic methods. The IMM, contrary to the non modular methods, is based on the discretization of the vehicle evolution space into simple maneuvers, represented each by a simple dynamic model such as constant velocity or constant turning etc. This allows the method to be optimized for highly dynamic vehicles. The application of this positioning service will be presented in a real time embedded architecture. The presented results are based on real measurements collected from representatives scenarios (test track, peri-urban road, highway). These results show a real interest in using the new IMM method in order to reach the POMA's objectives.
Beyond GNSS: Highly accurate localization for cooperative-intelligent transport systems
2018 IEEE Wireless Communications and Networking Conference (WCNC), 2018
This positioning paper provides an overview on an envisioned platform, intended as a set of technologies, protocols and algorithms, to achieve highly accurate localization for cooperative-intelligent transport systems. This is the result of a three years investigation conducted within the scope of the EU H2020 HIGHTS project and offers an insight on the envisioned hybrid service platform to enable vehicular positioning services for highly automated driving (HAD) scenarios. This paper reviews the main components of such a platform, drafting the guidelines for the seamless integration (i.e. hybridization) and field validation of multiple localization solutions to support robust HAD functionalities.
Evaluation of GPS-based methods of relative positioning for automotive safety applications
Transportation Research Part C: Emerging Technologies, 2012
According to United States Department of Transport (USDOT) statistics, roadway accidents are the leading cause of death for the age group 4-34 years with over 30,000 deaths a year. These roadway accidents also have a direct economic cost of over $ 200 billion. Day-today roadway traffic congestion is estimated to drain around 4.2 billion lost hours per year and the associated financial loss is estimated to be over $87 billion. The use of wireless technology to enable communications between all road user entities (generally termed V2X or Vehicle-to-Entity) so that they are aware of each other is seen as a promising approach to lessen the negative implications of road accidents and traffic congestion. USDOT Intelli-Drive program is the official initiative to do exactly that. The capability to estimate the position of a given entity with respect to another is a critical requirement in all V2X applications. Therefore, positioning and wireless communication capabilities can be considered the two critical building blocks of all V2X applications. Once all the technical challenges are addressed, V2X can be a paradigm changer and people will be able to rely on V2X technology to assist them in day-today driving to improve their safety, efficiency, and security. Eventually, the V2X-based awareness may be supplanted by various levels of vehicle control, ranging from crash avoidance to fully automated driving. For V2X application deployment to be feasible, all technologies that are a part of V2X have to be accurate, reliable and available in all drivable environments. GNSS being a key V2X enabler, this implies strict accuracy, reliability and availability requirements for GNSS-based positioning. Crash Avoidance Metrics Partnership (CAMP), a consortium of automakers has been working on V2X technologies for a number of years as a collaborative effort with the USDOT support. Among the most recent research and development work done by this consortium is the Vehicle Safety Communications-Applications (VSC-A) project. As a part of this work, an interoperable Vehicle-to-Vehicle (V2V) communications enabled fleet was built. More importantly, GNSS service availability and accuracy as applicable to V2X applications was investigated. The Position, Location, and Navigation (PLAN) Group of the University of Calgary conducted related extensive field trials in late 2009. This paper provides a summary of the goals and findings of this study and, more importantly, provides some insights on the positioning technology challenges ahead. The study used a Dedicated Short Range Communications (DSRC) link that was previously developed and tested as a part of CAMP-USDOT collaborative efforts for between vehicle communications. The method that will be selected for V2X relative positioning has a direct impact on the data volume shared Over-the-Air using the DSRC data link. Therefore, this study and its findings are of great importance for data management in Vehicular Networks.
Alternative Accurate Vehicular Positioning Solution in Intelligent Transport Systems
A vehicular positioning is generally based on Global Navigation Satellite Systems (GNSS). The GNSSs have obvious advantages, but these systems have big problems in density urban environment, tunnels and buildings (e.g. parking houses). Alternative positioning systems should be implemented in these critical environments. For this purpose can be used various wireless communication platforms, e.g. cellular, ad hoc networks or RFID (Radio Frequency Identification). This paper presents overview of useful localization methods based on received signal strength. Their possible implementation in transport systems by means of mentioned platforms and their results.
An accurate cooperative positioning system for vehicular safety applications
Computers & Electrical Engineering, 2020
Typical Global Navigation Satellite System (GNSS) receivers offer precision in the order of meters. This error margin is excessive for vehicular safety applications, such as forward collision warning, autonomous intersection management, or hard braking sensing. In this work we develop CooPS, a GNSS positioning system that uses Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communications to cooperatively determine absolute and relative position of the ego-vehicle with enough precision. To that end, we use differential GNSS through position vector differencing to acquire track and across-track axes projections, employing elliptical and spherical geometries. We evaluate CooPS performance by carrying out real experiments using off-the-shelf IEEE 802.11p equipment at the campus of the Federal University of Rio de Janeiro. We obtain an accuracy level under 1.0 and 1.5 m for track (where-in-lane) and across-track (which-lane) axes, respectively. These accuracy levels were achieved using a 2.5 m accuracy circular error probable (CEP) of 50% and a 5 Hz navigation update rate GNSS receiver.
Demonstration and Evaluation of Precise Positioning for Connected and Automated Mobility Services
2022 Joint European Conference on Networks and Communications & 6G Summit (EuCNC/6G Summit)
Cooperative, Connected and Automated Mobility (CCAM) services require precise and reliable localization services able to infer and track the position of a vehicle with lane accuracy. The H2020 5GCroCo project, which trials 5G technologies in the European cross-border corridor along France, Germany and Luxembourg, as well as in five small-scale trial sites, considers different technologies to enhance vehicle localization, including GPS-Real Time Kinematic (GPS-RTK), Ultra-WideBand (UWB) and Inertial Sensors (INS). This paper presents a compact prototype, which integrates these localization technologies with 5GCroCo's On-Board Unit (OBU) equipment, and its evaluation within the scope of the Anticipated Cooperative Collision Avoidance (ACCA) Use Case demonstrated in Barcelona small-scale trial site.
Sensors
In Intelligent Transportation Systems (ITS), the Vehicular Ad Hoc Networks (VANETs) paradigm based on the WAVE IEEE 802.11p standard is the main alternative for inter-vehicle communications. Recently, many protocols, applications, and services have been developed with a wide range of objectives, ranging from comfort to security. Most of these services rely on location systems and require different levels of accuracy for their full operation. The Global Positioning System (GPS) is an off-the-shelf solution for localization in VANETs and ITS. However, GPS systems present problems regarding inaccuracy and unavailability in dense urban areas, multilevel roads, and tunnels, posing a challenge for protocols, applications, and services that rely on localization. With this motivation, we carried out a characterization of the problems of inaccuracy and unavailability of GPS systems from real datasets, and regions around tunnels were selected. Since the nodes of the vehicular network are endo...
Lane-level positioning for cooperative systems using EGNOS and enhanced digital maps
François Peyret, born in 1950, was graduated from the ENSMA in Poitiers (1974) and from Sup 'Aero in Toulouse (1975). He is now Director of Research (equivalent of Professor), and head of the Image processing and geopositioning research team, at LCPC, where he is leading research activities in the field of road vehicle positioning for ADAS, especially with hybrid GNSS systems and enhanced 3D map-matching. His team is presently involved in 2 major European integrated projects in this field: CVIS and SAFESPOT from the 3 d eSafety call, and also in several national projects or research actions.