A New Algorithm for Lane Level Irregular Driving Identification

Abstract

Global Navigation Satellite Systems (GNSS) are used widely in the provision of Intelligent Transportation System (ITS) services. Today, there is an increasing demand on GNSS to support applications at lane level. These applications required at lane level include lane control, collision avoidance and intelligent speed assistance. In lane control, detecting irregu-lar driving behaviour within the lane is a basic requirement for safety related lane level appli-cations. There are two major issues involved in lane level irregular driving identification: access to high accuracy positioning and vehicle dynamic parameters, and extraction of erratic driving behaviour from this and other related information. This paper proposes an inte-grated algorithm for lane level irregular driving identification. Access to high accuracy posi-tioning is enabled by GNSS and its integration with an Inertial Navigation System (INS) using filtering with precise vehicle motion models and lane information. The identification of irregu-lar driving behaviour is achieved by algorithms developed for different types of events based on the application of a Fuzzy Inference System (FIS). The results show that decimetre level accuracy can be achieved and that different types of lane level irregular driving behaviour can be identified.

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“…The prediction for (2) is based on vehicle kinematic motion models. Constant acceleration (CA) and Constant Turn Rate and Acceleration (CTRA) models, shown to provide reasonable approximation of motion, are used on straight/curved roads (Tsogas et al, 2005;Sun et al, 2015a;Sun et al, 2015b;Sun et al, 2016). Thus, for every particle in (2), the prediction models are applied during the filtering processing as in equation (4).…”

Low-Cost Curb Detection and Localization System Using Multiple Ultrasonic Sensors

“…Driving lane detection is a crucial technology for autonomous driving. Usually, driving lane detection is primarily based on precise Global Navigation Satellite Systems (GNSS) positioning technology [5,6,7] and image processing from vision sensors [8,9,10,11,12,13]. GNSS, especially the Global Positioning System (GPS) of the U.S., are widely used for various transportation modes and applications [14,15,16,17,18,19].…”