Master of Science, The Ohio State University, 2024, Electrical and Computer Engineering
Automated driving needs lane-level accurate localization. However, automated driving systems face significant challenges in environments where GPS signals are unavailable or compromised. Several techniques have been introduced over time to address this issue. However, each technique presents its own set of challenges.To address the lane-level localization challenges, this study proposes a kinematic dead reckoning system utilizing vehicle onboard sensor data, which is crucial for vehicle operation itself. Onboard sensors provide data such as steering angle, steering rate, yaw rate, and wheel speed sensors through the vehicle's Controller Area Network (CAN). However, dead reckoning is susceptible to drift over time, compromising localization accuracy. To mitigate this drift, an innovative arc-length-based map matching method is introduced, which leverages a digital 2D map of road and lane geometry to correct the dead reckoning estimates.The proposed methodology enhances vehicle localization by combining the temporal prediction of a kinematic model with spatial information from static map data, effectively correcting drift without GPS support. This approach was tested in multiple safety-critical scenarios suggested by NHTSA in distinct road geometry, speed, and maneuvers, demonstrating consistent localization accuracy. The overall results showed reliable drift correction for all tested scenarios. Furthermore, we evaluated the outage performance for each scenario at different times during the scenario test, revealing a bound error in the localization method. Furthermore, the proposed method calculates a confidence interval to identify overestimation and underestimation.This novel arc-length-based map matching ensures continuous and dependable navigation for automated vehicles in GPS-denied situations, significantly enhancing safety and operational reliability. The findings of this study highlight a scalable and effective solution to maintain automated vehicle localizati (open full item for complete abstract)
Committee: Qadeer Ahmed (Advisor); Lisa Fiorentini (Committee Member)
Subjects: Computer Engineering; Computer Science; Electrical Engineering; Engineering; Transportation