Graduate School and Research Center in Digital Sciences

Robust data fusion for cooperative vehicular localization in tunnels

Hoang, Gia-Minh; Denis, Benoît; Härri, Jérôme; Slock, Dirk TM

IV 2017, IEEE Intelligent Vehicle Symposium, June 11-14 2017, Redondo Beach, CA, USA

In an effort to improve positioning accuracy in Vehicular Ad hoc NETworks (VANETs), Cooperative Localization (CLoc) has been proposed to fuse relative observations from Vehicle-to-Vehicle (V2V) communication devices with absolute observations from on-board resources such as Global Navigation Satellite Systems (GNSS), Inertial Measurement Units (IMU), and Wheel Speed Sensors (WSSs). In challenging  but common tunnel environments, prolonged GNSS outages and unsustainable error accumulation of inertial sensors over time (e.g., gyroscopes) lead to the fast divergence of position estimates. In this paper, we aim at resolving this problem by relying on additional Vehicle-to-Infrastructure (V2I) measurements, making use of RoadSide Units (RSUs) internally to the tunnel. In particular, we explore practical trade-offs between V2I technology (i.e., Impulse Radio - Ultra WideBand (IRUWB) or ITS-G5) and RSUs deployment costs (i.e., in terms of density and geometric configuration), while improving CLoc absolute accuracy.We also consider combining this solution with lane detection capabilities (e.g., camera-based) and associated road information, while comparing it with a more conventional approach based on GNSS repeaters.

Document Doi Bibtex

Title:Robust data fusion for cooperative vehicular localization in tunnels
City:Redondo Beach
Department:Communication systems
Eurecom ref:5551
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Bibtex: @inproceedings{EURECOM+5551, doi = {}, year = {2017}, title = {{R}obust data fusion for cooperative vehicular localization in tunnels}, author = {{H}oang, {G}ia-{M}inh and {D}enis, {B}eno{\^i}t and {H}{\"a}rri, {J}{\'e}r{\^o}me and {S}lock, {D}irk {TM}}, booktitle = {{IV} 2017, {IEEE} {I}ntelligent {V}ehicle {S}ymposium, {J}une 11-14 2017, {R}edondo {B}each, {CA}, {USA}}, address = {{R}edondo {B}each, {UNITED} {STATES}}, month = {06}, url = {} }
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