Intelligent Multi-Sensor Measurements to Enhance Vehicle Navigation and Safety Systems

John W. Allen, Jordan H. Britt, Christopher J. Rose, David M. Bevly

Abstract:	Nearly 50% of all the traffic fatalities are due to accidental lane departures. Therefore, there is great interest in advanced driver assistance systems to prevent unintended lane departures. The purpose of this paper is to present a method of lane positioning that involves combining a GPS/IMU navigation system with camera and Light Detection and Ranging (LiDAR) measurements. A discrete Kalman filter is implemented as the navigation filter used to combine all the measurements. The navigation coordinate frame is a coordinate frame attached to the road. The camera and LiDAR are assumed to give a measurement of the vehicle’s current offset from the center of the current lane. This measurement directly corresponds to the y-axis of the navigation coordinate frame. The IMU used has 3 accelerometer axis and 3 gyros; however, only 2 accelerometers and 1 gyro were used for the navigation filter. Many vehicles come standard with a similar IMU set up for stability control. Many issues become apparent when working with a shifting navigation frame. Measurements from the GPS must be mapped into the road coordinate frame. This involves a transformation from earth centered earth fixed (ECEF) coordinates to the road frame’s coordinates. Also, the states of the navigation filter need to be updated when shifting to the next road coordinate frame. The largest implementation hurdle is obtaining a lane map. Current survey techniques are slow and require road closure. There are also issues with how long a road frame can be without adding error to the system. A road frame that is too long in a turn will cause error. The surveyed section of road used for the paper is split into road coordinate frames with an average length of around 10 m.
Published in:	Proceedings of the 2009 International Technical Meeting of The Institute of Navigation January 26 - 28, 2009 Disney's Paradise Pier Hotel Anaheim, CA
Pages:	74 - 83
Cite this article:	Allen, John W., Britt, Jordan H., Rose, Christopher J., Bevly, David M., "Intelligent Multi-Sensor Measurements to Enhance Vehicle Navigation and Safety Systems," Proceedings of the 2009 International Technical Meeting of The Institute of Navigation, Anaheim, CA, January 2009, pp. 74-83.
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