Vehicle Localization Using an Automotive-Fixed Laser.
Driver Assistance Systems (ADAS) offer safety advantages to drivers in many situations.
A modern Lane-Departure Warning System (LDWS), for example, can alert a driver when an
unintended highway lane departure is imminent, preventing potentially deadly crashes or
collisions. Enhanced LDWS for urban environments will require very accurate lateral
positioning information, even ... read morein environments in which visual features (road-lane
markers) may be sparse and in which buildings may occlude or corrupt GPS signals. To
achieve such a capability, this thesis proposes a low-cost automotive positioning
concept for urban environments, a concept we call Registration using Automotive-Fixed
Laser (RAFL). The approach registers the car location on a reference map using data from
a laser rangefinder and a dead-reckoning system. The concept can estimate both
longitudinal and lateral position. A preliminary road test of our concept demonstrated
RAFL accuracy can exceed that of conventional GPS processing (using WAAS-corrected L1
C/A measurements) in high multipath urban
Thesis (M.S.)--Tufts University, 2013.
Submitted to the Dept. of Mechanical Engineering.
Advisor: Jason Rife.
Committee: Usman Khan, and Pratap Misra.
Keyword: Engineering.read less