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

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.