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Avåkningsvarnare som använder låg-kostnadssatellit-baserad positioneringsteknologi på moderna motorvägar

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DiVA - Academic Archive On-line
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In this report, high-precision satellite-aided positioning is investigated as a possible data source for a Lane-Departure Warning (LDW) system in a highway scenario. The positioning system inquestion uses a measurement methodology known as Real-Time Kinematic Global Navigation Satellite System (RTK-GNSS) that provides accuracy in the sub-decimeter area. As part of this investigation, a complete LDW system using such a positioning solution has been developed, integrated and tested in a vehicle. The thesis goes through the state of today's LDW systems, their limitations, accuracy and imposed requirements. Tests are then done to ascertain that high-precision satellite-aided positioning can alleviate these limitations while keeping to the imposed requirements, allowing it to function as a complementary system for both supervision and redundancy. The thesis content leading up to these tests present integration details regarding all the included hardware and software components and the influence these have on the required performance. Specifically, this project has tested the latency of the communication channels required for RTKGNSS and integrated and tested two options of compensating for this delay, one based on inertial sensors, the other based solely on the positioning system. Tests have also been performed on a high-cost and high-performance RTK-GNSS solution available on the market today to ascertain that the required accuracy is indeed achievable using this type of measurement methodology. In addition, this accuracy is compared with a low-cost custom-made RTK-GNSS solution in order to prove that the solution not only works as an LDW system but can also be economically defensible to use in production cars today. Note however that this report will not detail the algorithms used for the custom-made RTK-GNSS solution or the models used by the inertial sensor-based latency compensation. Such information can instead be found in open-source RTK libraries [6] or in reports focused on the models in question [27].Using this kind of positioning technology requires a high-precision map in order to produce LDW-appropriate output. Several options for attaining such a map are investigated and one suchoption based on polynomial adaptation is detailed and tested in this report. The results of which are promising in the intended highway scenario. Finally, the implications and possibilities brought forth by introducing high-precision positioningto the highway system is discussed along with the remaining issues that must be solved before the system can be fully introduced to the market.


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