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
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
收藏
页数:15
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