Study of Tunnel Vehicle GNSS/INS/OD Combination Position Based on Lateral Distance Measurement and Lane Line Constraint

Author:

Zhang Hongbin1,Zhang Xu2

Affiliation:

1. School of Transportation, Southeast University, Nanjing 210018, China

2. Bartlett School of Architecture, University College London, London WC1E 6BT, UK

Abstract

The high-precision dynamic positioning of highway vehicles is the foundation and prerequisite for achieving intelligent connected transportation. To address the shortcomings of the GNSS/INS combination and GNSS/INS/OD combination in tunnel vehicle positioning, this paper proposes a tunnel vehicle positioning method for the GNSS/INS/OD combination based on lateral distance measurements and lane constraints. Firstly, a lateral distance measurement of vehicles inside the tunnel is conducted based on laser radar point cloud data. Secondly, map matching positioning is performed based on lateral distance measurements, odometer, and lane markings. Experimental results demonstrate that, for a 4.6 km tunnel, the average absolute error in the lateral positioning is 0.294 m, and the longitudinal positioning error is no more than 0.6 m, which can effectively meet practical operational requirements.

Publisher

MDPI AG

Reference24 articles.

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2. U.S. Department of Transportation (2024, March 01). Ensuring American Leadership in Automated Vehicle Technologies: Automated Vehicles 4.0[EB/OL]. 2020-01-08 [2021-04-10], Available online: https://www.transportation.gov/av/4.

3. A comparative study on the policy management system of intelligent connected vehicles in China, America and Japan;Cui;China Auto,2020

4. Ministry of Science and Technology of the People’s Republic of China (2020). Intelligent Vehicle Innovation and Development Strategy.

5. China Association for Science and Technology (2020). Major Scientific and Engineering Problems in 2020, China Association for Science and Technology.

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