While advanced driving assistance systems for vehicles are becoming mature in urban and freeway scenarios, the enabling service of precise localisation with respect to the road lane is gaining more and more attention in the last decade. Indeed, having knowledge of the precise location of the vehicle allows safer and more efficient solutions, especially when those information are shared among multiple vehicles. This manuscript deals with the definition of an effective and simple nonlinear least squares solution for estimation and tracking of vehicles using multiple magnetometers embedded on the lateral road stripes. The solution relies on a classical model of magnetometer measurements and it is made robust by adding turning the classic least square solution to a constrained optimisation problem dictated by known road quantities (i.e., curvature and lanes dimensions). A first set of results sound promising for an effective application of the proposed algorithm to vehicle tracking.

Vehicle localisation using asphalt embedded magnetometer sensors / Valenti, G.; Biral, F.; Fontanelli, D.. - ELETTRONICO. - (2021), pp. 210-215. ((Intervento presentato al convegno 1st IEEE International Workshop on Metrology for Automotive, MetroAutomotive 2021 tenutosi a ita nel 2021 [10.1109/MetroAutomotive50197.2021.9502871].

Vehicle localisation using asphalt embedded magnetometer sensors

Valenti G.;Biral F.;Fontanelli D.
2021

Abstract

While advanced driving assistance systems for vehicles are becoming mature in urban and freeway scenarios, the enabling service of precise localisation with respect to the road lane is gaining more and more attention in the last decade. Indeed, having knowledge of the precise location of the vehicle allows safer and more efficient solutions, especially when those information are shared among multiple vehicles. This manuscript deals with the definition of an effective and simple nonlinear least squares solution for estimation and tracking of vehicles using multiple magnetometers embedded on the lateral road stripes. The solution relies on a classical model of magnetometer measurements and it is made robust by adding turning the classic least square solution to a constrained optimisation problem dictated by known road quantities (i.e., curvature and lanes dimensions). A first set of results sound promising for an effective application of the proposed algorithm to vehicle tracking.
2021 IEEE International Workshop on Metrology for Automotive, MetroAutomotive 2021 - Proceedings
445 and 501 Hoes Lane Piscataway, NJ 08854-4141 USA Phone: +1 732 981 0060
Institute of Electrical and Electronics Engineers Inc.
978-1-6654-3906-0
Valenti, G.; Biral, F.; Fontanelli, D.
Vehicle localisation using asphalt embedded magnetometer sensors / Valenti, G.; Biral, F.; Fontanelli, D.. - ELETTRONICO. - (2021), pp. 210-215. ((Intervento presentato al convegno 1st IEEE International Workshop on Metrology for Automotive, MetroAutomotive 2021 tenutosi a ita nel 2021 [10.1109/MetroAutomotive50197.2021.9502871].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/341407
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