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Lane-Level Vehicle Trajectory Reckoning for Cooperative Vehicle-Infrastructure System

Author

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  • Yinsong Wang
  • Xiaoguang Yang
  • Luoyi Huang
  • Jiawen Wang

Abstract

This paper presents a lane-level positioning method by trajectory reckoning without Global Positioning System (GPS) equipment in the environment of Cooperative Vehicle-Infrastructure System (CVIS). Firstly, the accuracy requirements of vehicle position in CVIS applications and the applicability of GPS positioning methods were analyzed. Then, a trajectory reckoning method based on speed and steering data from vehicle’s Control Area Network (CAN) and roadside calibration facilities was proposed, which consists of three critical models, including real-time estimation of steering angle and vehicle direction, vehicle movement reckoning, and wireless calibration. Finally, the proposed method was validated through simulation and field tests under a variety of traffic conditions. Results show that the accuracy of the reckoned vehicle position can reach the lane level and match the requirements of common CVIS applications.

Suggested Citation

  • Yinsong Wang & Xiaoguang Yang & Luoyi Huang & Jiawen Wang, 2012. "Lane-Level Vehicle Trajectory Reckoning for Cooperative Vehicle-Infrastructure System," Discrete Dynamics in Nature and Society, Hindawi, vol. 2012, pages 1-15, December.
    • Handle: RePEc:hin:jnddns:941047
    DOI: 10.1155/2012/941047
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