Comparison of Rectangular and Elliptical Alert Limits for Lane-Keeping Applications

Olivier N. Kigotho and Jason H. Rife

Abstract:	This paper introduces an elliptical alert limit (or AL) to characterize horizontal positioning errors for lane-keeping applications. Equations are derived that characterize the maximum dimensions of the AL when traveling on curved roads. On curved roads, the allowable errors in the lateral and longitudinal directions are coupled, so lane-keeping requires both a limit on lateral errors and on longitudinal errors (either or both of which can carry an automated vehicle outside its lane, possibly resulting in a hazardous collision). We apply our equations for characterizing elliptical AL to relevant scenarios involving vehicles of different sizes on representative roadways; in each case, we compare the performance of the elliptical AL to that of a rectangular AL, as has been considered previously by other investigators. Our analyses indicate that the elliptical AL always outperforms the rectangular AL, allowing for larger longitudinal errors, by as much as a factor of two for passenger vehicles on narrow roadways when lateral errors are tightly constrained.
Published in:	Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) September 20 - 24, 2021 Union Station Hotel St. Louis, Missouri
Pages:	93 - 104
Cite this article:	Kigotho, Olivier N., Rife, Jason H., "Comparison of Rectangular and Elliptical Alert Limits for Lane-Keeping Applications," Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021), St. Louis, Missouri, September 2021, pp. 93-104. https://doi.org/10.33012/2021.17904
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