Lane-Level Vehicle Trajectory Reckoning for Cooperative Vehicle-Infrastructure System

被引：1

作者：

Wang, Yinsong ^{[1
]}

Yang, Xiaoguang ^{[1
]}

Huang, Luoyi ^{[1
]}

Wang, Jiawen ^{[1
]}

机构：

[1] Tongji Univ, Minist Educ, Key Lab Rd & Traff Engn, Shanghai 201804, Peoples R China

来源：

DISCRETE DYNAMICS IN NATURE AND SOCIETY | 2012年 / 2012卷

基金：

中国国家自然科学基金;

关键词：

D O I：

10.1155/2012/941047

中图分类号：

O1 [数学];

学科分类号：

0701 ; 070101 ;

摘要：

This paper presents a lane-level positioning method by trajectory reckoning without Global Positioning System (GPS) equipment in the environment of Cooperative Vehicle-Infrastructure System (CVIS). Firstly, the accuracy requirements of vehicle position in CVIS applications and the applicability of GPS positioning methods were analyzed. Then, a trajectory reckoning method based on speed and steering data from vehicle's Control Area Network (CAN) and roadside calibration facilities was proposed, which consists of three critical models, including real-time estimation of steering angle and vehicle direction, vehicle movement reckoning, and wireless calibration. Finally, the proposed method was validated through simulation and field tests under a variety of traffic conditions. Results show that the accuracy of the reckoned vehicle position can reach the lane level and match the requirements of common CVIS applications.

引用

页数：15

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