Self-localization is a crucial task for intelligent vehicles. Existing localization methods usually require high-cost IMU (Inertial Measurement Unit) or expensive LiDAR sensors (e.g., Velodyne HDL-64E). In this paper, we propose a low-cost yet accurate localization solution by using a custom-level GPS receiver and a low-cost camera with the support of HD map. Unlike existing HD map-based methods, which usually requires unique landmarks within the sensed range, the proposed method utilizes common lane lines for vehicle localization by using Kalman filter to fuse the GPS, monocular vision, and HD map for more accurate vehicle localization. In the Kalman filter framework, the observations consist of two parts. One is the raw GPS coordinate. The other is the lateral distance between the vehicle and the lane, which is computed from the monocular camera. The HD map plays the role of providing reference position information and correlating the local lateral distance from the vision and the GPS coordinates so as to formulate a linear Kalman filter. In the prediction step, we propose using a data-driven motion model rather than a Kinematic model, which is more adaptive and flexible. The proposed method has been tested with both simulation data and real data collected in the field. The results demonstrate that the localization errors from the proposed method are less than half or even one-third of the original GPS positioning errors by using low cost sensors with HD map support. Experimental results also demonstrate that the integration of the proposed method into existing ones can greatly enhance the localization results.

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The ability to identify hazardous traffic events is already considered as one of the most effective solutions for reducing the occurrence of crashes. Only certain particular hazardous traffic events have been studied in previous studies, which were mainly based on dedicated video stream data and GPS data. The objective of this study is twofold: (1) the Markov blanket (MB) algorithm is employed to extract the main factors associated with hazardous traffic events; (2) a model is developed to identify hazardous traffic event using driving characteristics, vehicle trajectory, and vehicle position data. Twenty-two licensed drivers were recruited to carry out a natural driving experiment in Wuhan, China, and multi-sensor information data were collected for different types of traffic events. The results indicated that a vehicle’s speed, the standard deviation of speed, the standard deviation of skin conductance, the standard deviation of brake pressure, turn signal, the acceleration of steering, the standard deviation of acceleration, and the acceleration in Z (G) have significant influences on hazardous traffic events. The sequential minimal optimization (SMO) algorithm was adopted to build the identification model, and the accuracy of prediction was higher than 86%. Moreover, compared with other detection algorithms, the MB-SMO algorithm was ranked best in terms of the prediction accuracy. The conclusions can provide reference evidence for the development of dangerous situation warning products and the design of intelligent vehicles.