Urban Road Safety Prediction: A Satellite Navigation Perspective

被引:9
作者
Lee, Halim [1 ]
Seo, Jiwon [1 ]
Kassas, Zaher M. [2 ]
机构
[1] Yonsei Univ, Sch Integrated Technol, Incheon 21983, South Korea
[2] Ohio State Univ, Elect & Comp Engn, Columbus, OH 43210 USA
基金
新加坡国家研究基金会; 美国国家科学基金会;
关键词
Global navigation satellite system; Reliability; Roads; Satellite broadcasting; Buildings; Satellites; Receivers; GNSS; GPS; MAP; LOCALIZATION; SYSTEM; MITIGATION; ALGORITHM; ERROR; MODEL;
D O I
10.1109/MITS.2022.3181557
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure the safe driving of automated vehicles, a vehicle must plan its trajectory to avoid navigating on unsafe roads (e.g., icy conditions, construction zones, narrow streets, and so on). Such information can be derived from roads' physical properties, the vehicle's capabilities, and weather conditions. From a GNSS-based navigation perspective, the reliability of GNSS signals in different locales, which is heavily dependent on the road layout within the surrounding environment, is crucial to ensure safe automated driving. An urban road environment surrounded by tall objects can significantly degrade the accuracy and availability of GNSS signals. This article proposes an approach to predict the reliability of GNSS-based navigation to ensure safe urban navigation. Satellite navigation reliability at a given location and time on a road is determined based on the probabilistic position error bound of the vehicle-mounted GNSS receiver. A metric for GNSS reliability for ground vehicles is suggested, and a method to predict the conservative probabilistic error bound of the GNSS navigation solution is proposed. A satellite navigation reliability map is generated for various navigation applications. As a case study, the reliability map is used in a proposed optimization problem formulation for automated ground vehicle safety-constrained path planning. © 2009-2012 IEEE.
引用
收藏
页码:94 / 106
页数:13
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