Development of vehicle localization algorithm based on atmospheric sensor data

2023 Fiscal Year Final Research Report

• Project/Area Number: 20K04723
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 22050:Civil engineering plan and transportation engineering-related
• Research Institution: Tokyo Information Design Professional University (2023); Tsukuba Gakuin University (2022); Tottori University (2020-2021)
• Principal Investigator: Yokota Takayoshi 東京情報デザイン専門職大学, 情報デザイン学部, 教授 (50417028)
• Project Period (FY): 2020-04-01 – 2024-03-31
• Keywords: ITS / GNSS / MEMSセンサ / 位置算出アルゴリズム / 大気圧 / 標高

Outline of Final Research Achievements

We developed the following technologies to accurately determine the driving position of vehicles using MEMS sensor information, even when the functionality of GNSS is disrupted due to the impact of cyber-terrorism and natural disasters,
We implemented a method to associate sensor data with digital road maps on a road links and to search for the relevant sensor data in order to estimate the location of the vehicle. We realized a speed compensation process that compresses and expands the sensor data along the time axis according to the driving speed, and then resamples it to correctly calculate the cross-correlation function even when there are significant differences in driving speeds between the evaluation vehicle and the reference vehicle.
As a result, we confirmed a position estimation accuracy with an average RMS error of 1.6 meters and a maximum error of 6.5 meters in experiments on general road networks.

Free Research Field

高度交通システム、最適化理論

Academic Significance and Societal Importance of the Research Achievements

本研究による気圧センサ等のMEMSセンサを用いた車両位置算出アルゴリズムは太陽フレアや国際紛争等による妨害電話等で機能障害が発生し得るGNSS(Global Navigation Satellite System)による位置算出方法の弱点を補強し、常に安定的に車両の位置を算出する手段を提供することが可能になり、今後の自動運転などの実現に大きく貢献し得るため会的意義が大きい。また、道路の凹凸などによる微弱な振動情報が道路の位置を特定できるほどの特徴量として機能することと、それを用いた位置算出アルゴリズムを具合的に実現し、実際の道路で行った実証実験でその効果を確認した学術的意義が大きい。