停止線を活用したコネクテッド車両の協調測位
Stop Line Aided Cooperative Positioning of Connected Vehicles
交差点で停止線の位置を基準に先頭停止車両のGNSS/INS測位を補正し、その情報をV2V通信とEKFで車車間ネットワーク全体に広げる協調測位手法を提案・実証した論文。
著者: Xingqi Wang, Chaoyang Jiang, Shuxuan Sheng, Yanjie Xu, Yifei Jia
分類: cs.RO, eess.SP
原文アブストラクト
This paper develops a stop line aided cooperative positioning framework for connected vehicles, which creatively utilizes the location of the stop-line to achieve the positioning enhancement for a vehicular ad-hoc network (VANET) in intersection scenarios via Vehicle-to-Vehicle (V2V) communication. Firstly, a self-positioning correction scheme for the first stopped vehicle is presented, which applied the stop line information as benchmarks to correct the GNSS/INS positioning results. Then, the local observations of each vehicle are fused with the position estimates of other vehicles and the inter-vehicle distance measurements by using an extended Kalman filter (EKF). In this way, the benefits of the first stopped vehicle are extended to the whole VANET. Such a cooperative inertial navigation (CIN) framework can greatly improve the positioning performance of the VANET. Finally, experiments in Beijing show the effectiveness of the proposed stop line aided cooperative positioning framework.
