An Integrated DGPS/DR/Map System for Vehicle Safety Applications

Gengsheng Zhang and Christopher Wilson

Abstract:	This paper presents the integrated differential GPS (DGPS)/Dead-Reckoning (DR)/Map system developed at DaimlerChrysler Research and Technology North America, Inc. for vehicle safety applications. The system includes a GPS receiver, a differential correction receiver, a fiber optic gyro (FOG), anti-lock braking system (ABS) wheel sensors, and a high accuracy map database with road lane information. Data acquisition system, dead-reckoning and Kalman filter algorithm were developed to optimally combine data from DGPS, gyro, and ABS wheel sensors to provide high accuracy vehicle position information in real time. The vehicle position is then compared with the map database. Currently, the cross-track offset relative to the lane centerline is computed in the mapped area. The cross-track offset can also be displayed on a graphic user interface (GUI) to deliver timely warnings to drivers for potential lane departure. Applications of this integrated system include curve warnings and lane departure warnings, which can significantly improve driver and vehicle safety. Applications of this integrated system can also be extended to lane keeping, vehicle control, collision avoidance, intersection warnings, and precision road mapping. This paper gives a detailed description of the integrated DGPS/DR/Map system and its tests. Test results will be given and its performance will be evaluated with an emphasis on lane departure detection.
Published in:	Proceedings of the 2000 National Technical Meeting of The Institute of Navigation January 26 - 28, 2000 Pacific Hotel Disneyland Anaheim, CA
Pages:	253 - 257
Cite this article:	Zhang, Gengsheng, Wilson, Christopher, "An Integrated DGPS/DR/Map System for Vehicle Safety Applications," Proceedings of the 2000 National Technical Meeting of The Institute of Navigation, Anaheim, CA, January 2000, pp. 253-257.
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