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A Lane Change Detection and Filtering Approach for Precise Longitudinal Position of On-Road Vehicles

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Intelligent Autonomous Systems 14 (IAS 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

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Abstract

This paper presents a lane change detection and filtering approach for precise longitudinal localization. Maps, the road which is traveled along and the trajectory of the vehicle are used as the only inputs. Straight-road transformation is proposed for lane change detection on the curve, and the filtering algorithm is designed for online positioning process. Experiments demonstrate the improvement of longitudinal position precision by lane change detection and filtering, and show the application of this approach on terrain localization.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China (91420101), International Chair on automated driving of ground vehicle, and National Magnetic Confinement Fusion Science Program (2012GB102002).

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Authors and Affiliations

  1. Key Laboratory of System Control and Information, Department of Automation, Processing Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China

    Tianyi Li & Ming Yang

  2. School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China

    Xiaojun Xu & Xiang Zhou

  3. Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China

    Chunxiang Wang

Authors
  1. Tianyi Li
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  2. Ming Yang
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  3. Xiaojun Xu
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  4. Xiang Zhou
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  5. Chunxiang Wang
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Corresponding author

Correspondence to Ming Yang .

Editor information

Editors and Affiliations

  1. Shanghai Jiao Tong University , Shanghai, China

    Weidong Chen

  2. Osaka University , Osaka, Japan

    Koh Hosoda

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. Osaka University , Osaka, Japan

    Masahiro Shimizu

  5. Shanghai Jiao Tong University , Shanghai, China

    Hesheng Wang

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Li, T., Yang, M., Xu, X., Zhou, X., Wang, C. (2017). A Lane Change Detection and Filtering Approach for Precise Longitudinal Position of On-Road Vehicles. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_65

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  • DOI: https://doi.org/10.1007/978-3-319-48036-7_65

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

  • eBook Packages: EngineeringEngineering (R0)

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