Vehicle localization using satellite navigation systems like GPS is a convenient and achievable solution. In order to solve this problem in dense urban areas, erroneous measurements caused by non-line-of-sight situations need to be handled carefully. The purpose of this paper is to evaluate shadow maps-an efficient representation of satellite reception conditions-for reliable real-time vehicle localization in urban areas. Instead of classical digital 3D maps which need to be installed and kept up-to-date at vehicle level, shadow maps can be exchanged on demand with vehicular ad-hoc networks. The proposed approach-developed within the European research project GAIN-is proven to increase accuracy and integrity of single-frequency GPS receivers in urban areas without additional physical sensors. In addition to the positioning performance, the necessary requirements for the communication channel are derived and compared to available technologies. The evaluated results are generated from different real-world test drives and compared to a high accurate ground truth.
Abstract. The construction of highways and federal roadways is subject to many restrictions and designing rules. The focus is on safety, comfort and smooth driving. Unfortunately, the planning information for roadways and their real constitution, course and their number of lanes and lane widths is often unsure or not available. Due to digital map databases of roads raised much interest during the last years and became one major cornerstone of innovative Advanced Driving Assistance Systems (ADASs), the demand for accurate and detailed road information increases considerably. Within this project a measurement system for collecting high accurate road data was developed. This paper gives an overview about the sensor configuration within the measurement vehicle, introduces the implemented algorithms and shows some applications implemented in the post processing platform. The aim is to recover the origin parametric description of the roadway and the performance of the measurement system is being evaluated against several original road construction information.
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