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      The Local Integrity Approach for Urban Contexts: Definition and Vehicular Experimental Assessment

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          Abstract

          A novel cooperative integrity monitoring concept, called “local integrity”, suitable to automotive applications in urban scenarios, is discussed in this paper. The idea is to take advantage of a collaborative Vehicular Ad hoc NETwork (VANET) architecture in order to perform a spatial/temporal characterization of possible degradations of Global Navigation Satellite System (GNSS) signals. Such characterization enables the computation of the so-called “Local Protection Levels”, taking into account local impairments to the received signals. Starting from theoretical concepts, this paper describes the experimental validation by means of a measurement campaign and the real-time implementation of the algorithm on a vehicular prototype. A live demonstration in a real scenario has been successfully carried out, highlighting effectiveness and performance of the proposed approach.

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          Passive Sensor Integration for Vehicle Self-Localization in Urban Traffic Environment †

          Yanlei Gu, Li-Ta Hsu, Shunsuke Kamijo (2015)
          This research proposes an accurate vehicular positioning system which can achieve lane-level performance in urban canyons. Multiple passive sensors, which include Global Navigation Satellite System (GNSS) receivers, onboard cameras and inertial sensors, are integrated in the proposed system. As the main source for the localization, the GNSS technique suffers from Non-Line-Of-Sight (NLOS) propagation and multipath effects in urban canyons. This paper proposes to employ a novel GNSS positioning technique in the integration. The employed GNSS technique reduces the multipath and NLOS effects by using the 3D building map. In addition, the inertial sensor can describe the vehicle motion, but has a drift problem as time increases. This paper develops vision-based lane detection, which is firstly used for controlling the drift of the inertial sensor. Moreover, the lane keeping and changing behaviors are extracted from the lane detection function, and further reduce the lateral positioning error in the proposed localization system. We evaluate the integrated localization system in the challenging city urban scenario. The experiments demonstrate the proposed method has sub-meter accuracy with respect to mean positioning error.
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            Data Fusion for Driver Behaviour Analysis

            Juan C Carmona, Fernando Esparza-García, David Martín … (2015)
            A driver behaviour analysis tool is presented. The proposal offers a novel contribution based on low-cost hardware and advanced software capabilities based on data fusion. The device takes advantage of the information provided by the in-vehicle sensors using Controller Area Network Bus (CAN-BUS), an Inertial Measurement Unit (IMU) and a GPS. By fusing this information, the system can infer the behaviour of the driver, providing aggressive behaviour detection. By means of accurate GPS-based localization, the system is able to add context information, such as digital map information, speed limits, etc. Several parameters and signals are taken into account, both in the temporal and frequency domains, to provide real time behaviour detection. The system was tested in urban, interurban and highways scenarios.
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              GPS/DR Error Estimation for Autonomous Vehicle Localization

              Byung-Hyun Lee, Jong-Hwa Song, Jun-Hyuck Im … (2015)
              Autonomous vehicles require highly reliable navigation capabilities. For example, a lane-following method cannot be applied in an intersection without lanes, and since typical lane detection is performed using a straight-line model, errors can occur when the lateral distance is estimated in curved sections due to a model mismatch. Therefore, this paper proposes a localization method that uses GPS/DR error estimation based on a lane detection method with curved lane models, stop line detection, and curve matching in order to improve the performance during waypoint following procedures. The advantage of using the proposed method is that position information can be provided for autonomous driving through intersections, in sections with sharp curves, and in curved sections following a straight section. The proposed method was applied in autonomous vehicles at an experimental site to evaluate its performance, and the results indicate that the positioning achieved accuracy at the sub-meter level.
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                Author and article information

                Contributors
                Felipe Jimenez: Role: Academic Editor
                Journal
                Journal ID (nlm-ta): Sensors (Basel)
                Journal ID (iso-abbrev): Sensors (Basel)
                Journal ID (publisher-id): sensors
                Title: Sensors (Basel, Switzerland)
                Publisher: MDPI
                ISSN (Electronic): 1424-8220
                Publication date (Electronic): 26 January 2016
                Publication date Collection: February 2016
                Volume: 16
                Issue: 2
                Electronic Location Identifier: 154
                Affiliations
                Istituto Superiore Mario Boella (ISMB), Via P.C. Boggio 61, Torino 10138, Italy; falletti@ 123456ismb.it
                Author notes
                [* ]Correspondence: margaria@ 123456ismb.it
                [†]

                These authors contributed equally to this work.

                Article
                Publisher ID: sensors-16-00154
                DOI: 10.3390/s16020154
                PMC ID: 4801532
                PubMed ID: 26821028
                SO-VID: 496c712b-1122-4cb4-9e5e-5ae209de6660
                Copyright © © 2016 by the authors; licensee MDPI, Basel, Switzerland.
                License:

                This article is an open access article distributed under the terms and conditions of the Creative Commons by Attribution (CC-BY) license ( http://creativecommons.org/licenses/by/4.0/).

                History
                Date received : 26 November 2015
                Date accepted : 15 January 2016
                Categories
                Subject: Article

                ScienceOpen disciplines: Biomedical engineering
                Keywords: local integrity,local protection levels,prototype,global navigation satellite system,vehicular ad hoc network
                Data availability:
                ScienceOpen disciplines: Biomedical engineering
                Keywords: local integrity, local protection levels, prototype, global navigation satellite system, vehicular ad hoc network

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