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Publication Number: FHWA-HRT-10-064
Date: July 2010
While each of these technologies can contribute data to lane–keeping systems, each also has performance limitations and can be rendered unreliable under certain driving conditions. Cameras in lane–departure warning systems, for example, are prone to error where lane markings are missing or difficult to detect–in poor lighting, rain, or snow. GPS is subject to blockage by other vehicles, city buildings, and heavy foliage, as well as to delays and errors caused by satellite positioning and ionospheric and tropospheric conditions. Low–cost inertial sensors used for stability control accumulate position errors over time. Because of their differing modalities, however, there is potential for these systems to complement each other. The goal of this EAR project is to fuse the data from a range of sensors to compensate for the deficiencies of each—creating an accurate, robust, and reliable system for navigation and control.
Integrating Systems Data
Earlier studies have demonstrated the feasibility of integrating GPS and inertial sensors and of using lane–departure data to correct GPS and map database errors. Going a step further, this EAR project is developing algorithms for integrating data from GPS, on–board cameras, LiDAR, and inertial sensors, with particular attention to fusing high–accuracy nationwide differential GPS measurements with those of low–cost accelerometers and gyros that support electronic stability control systems.
"Although other work has focused on fusing sensor data," says Dave Gibson of FHWA's Office of Operations Research and Development, "this study attempts to fuse a wider range of sensors to provide overall accuracy—creating a bridge between navigation systems and safety systems. As a bonus, the project will yield information that engineers can use to improve safety products."
The researchers have found that combining the measurements provided by the different sensors poses a critical challenge: each sensor's specific, individual error source must be corrected before the different but complementary measurements can be combined. The data are being gathered on a vehicle outfitted with differential GPS, various inertial measurement units, camera, Doppler radar, and the Ibeo LiDAR, with all necessary hardware and software for on–board data collection. Ibeo Automobile Sensor, a German company focused on the use of laser technology in driver–assistance systems, is providing support for the project.
Following successful demonstration of enhanced lane–positioning capability, the project will produce a test methodology for use by industry, as well as a plan for using the study methodology and results in applied research programs supported by FHWA and the National Highway Traffic Safety Administration. A final goal is to refine and optimize the data integration algorithms for various driving conditions. Project completion is anticipated in 2011.
For more information on this EAR Program project, contact David Gibson, FHWA Office of Operations Research and Development, at 202-493-3271 (email: email@example.com).
Topics: research, exploratory advanced research
Keywords: research, exploratory advanced research
TRT Terms: research, Information organization, Activities leading to information generation, Research, Research projects