Mecanismo Eficiente de Localização Cooperativa para Veículos Autônomos Conectados
Resumo
A localização robusta e precisa é fundamental para garantir o funcionamento de aplicações de Veículos Autônomos Conectados (CAVs). No entanto, os mecanismos de navegação veicular (GNSS) são afetados por diversos problemas nas áreas urbanas, principalmente devido à refração ou reflexão dos sinais de satélite em prédios. Assim, para usar a localização do GNSS e satisfazer os requisitos das aplicações de CAVs, é necessário considerar técnicas de fusão de dados para obter um posicionamento mais eficiente por meio da troca de dados entre os CAVs. Neste cenário, este artigo apresenta um mecanismo de fusão de dados para localização veicular cooperativa, denominado de DUELAR. O mecanismo considera o Filtro de Kalman Sem Cheiro em conjunto com um algoritmo de map matching a nível de faixa para corrigir os erros de localização. Os resultados da simulação mostraram que o DUELAR reduz o erro de localização em pelo menos 70% comparado com outras abordagens da literatura.
Referências
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Li, F., Bonnifait, P., Ibanez-Guzman, J., and Zinoune, C. (2017). Lane-level mapmatching with integrity on high-definition maps. In Intelligent Vehicles Symposium, pages 1176–1181. IEEE.
Lobo, F., Grael, D., Oliveira, H., Villas, L., Almehmadi, A., and El-Khatib, K. (2019a). Cooperative localization improvement using distance information in vehicular ad hoc networks. Sensors, 19(23):5231.
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Wan, E. A. and Van Der Merwe, R. (2000). The unscented kalman filter for nonlinear estimation. In Adaptive Systems for Signal Processing, Communications, and Control Symposium, pages 153–158. IEEE.
Wan, G., Yang, X., Cai, R., Li, H., Zhou, Y., Wang, H., and Song, S. (2018). Robust and precise vehicle localization based on multi-sensor fusion in diverse city scenes. In International Conference on Robotics and Automation, pages 4670–4677. IEEE.
Wang, J., Liu, J., and Kato, N. (2018). Networking and communications in autonomous driving: A survey. IEEE Communications Surveys & Tutorials, 21(2):1243–1274.
Ansari, K. (2019). Cooperative position prediction: Beyond vehicle-to-vehicle relative positioning. IEEE Trans. on Intelligent Transportation Systems, 21(3):1121–1130.
Balico, L. N., Loureiro, A. A., Nakamura, E. F., Barreto, R. S., Pazzi, R. W., and Oliveira, H. A. (2018). Localization prediction in vehicular ad hoc networks. IEEE Communications Surveys & Tutorials, 20(4):2784–2803.
Cars, V. (2015). Drive me.
Chai, T. and Draxler, R. R. (2014). Root mean square error (rmse) or mean absolute error (mae)?–arguments against avoiding rmse in the literature. Geoscientific model development, 7(3):1247–1250.
Chao, P., Xu, Y., Hua, W., and Zhou, X. (2020). A survey on map-matching algorithms. In Australasian Database Conference, pages 121–133. Springer.
de Ponte Müller, F. (2017). Survey on ranging sensors and cooperative techniques for relative positioning of vehicles. Sensors, 17(2):271.
de Ponte Müller, F., Diaz, E. M., and Rashdan, I. (2016). Cooperative positioning and radar sensor fusion for relative localization of vehicles. In Intelligent Vehicles Symposium, pages 1060–1065. IEEE.
Dosovitskiy, A., Ros, G., Codevilla, F., Lopez, A., and Koltun, V. (2017). Carla: An open urban driving simulator. In Conference on robot learning, pages 1–16. PMLR.
Golestan, K., Seifzadeh, S., Kamel, M., Karray, F., and Sattar, F. (2012). Vehicle localization in vanets using data fusion and v2v communication. In symposium on Design and analysis of intelligent vehicular networks and applications, pages 123–130.
Hansson, A., Korsberg, E., Maghsood, R., Norden, E., and Selpi, S. (2020). Lane-level map matching based on hmm. IEEE Transactions on Intelligent Vehicles.
Hossain, M. A., Elshafiey, I., and Al-Sanie, A. (2019). Cooperative vehicle positioning with multi-sensor data fusion and vehicular communications. Wireless Networks, 25(3):1403–1413.
Kang, J. M., Yoon, T. S., Kim, E., and Park, J. B. (2020). Lane-level map-matching method for vehicle localization using gps and camera on a high-definition map. Sensors, 20(8):2166.
Kuutti, S., Fallah, S., Katsaros, K., Dianati, M., Mccullough, F., and Mouzakitis, A. (2018). A survey of the state-of-the-art localization techniques and their potentials for autonomous vehicle applications. IEEE Internet of Things Journal, 5(2):829–846.
Li, F., Bonnifait, P., and Ibañez-Guzmán, J. (2018). Map-aided dead-reckoning with lane-level maps and integrity monitoring. IEEE Transactions on Intelligent Vehicles, 3(1):81–91.
Li, F., Bonnifait, P., Ibanez-Guzman, J., and Zinoune, C. (2017). Lane-level mapmatching with integrity on high-definition maps. In Intelligent Vehicles Symposium, pages 1176–1181. IEEE.
Lobo, F., Grael, D., Oliveira, H., Villas, L., Almehmadi, A., and El-Khatib, K. (2019a). Cooperative localization improvement using distance information in vehicular ad hoc networks. Sensors, 19(23):5231.
Lobo, F. L., Grael, D. C., Oliveira, H. A. d., Villas, L. A., Almehmadi, A., and El-Khatib, K. (2019b). A distance-based data fusion technique for minimizing gps positioning In 15th International Symposium on QoS and error in vehicular ad hoc networks. Security for Wireless and Mobile Networks, pages 101–108.
Nascimento, P. P. L. L. d., Kimura, B. Y. L., Guidoni, D. L., and Villas, L. A. (2018). An integrated dead reckoning with cooperative positioning solution to assist gps nlos using vehicular communications. Sensors, 18(9):2895.
SAE, J. (2018). 3016-2018, taxonomy and definitions for terms related to driving automation systems for on-road motor vehicles. Society of Automobile Engineers, sae.
Sharma, S. and Kaushik, B. (2019). A survey on internet of vehicles: Applications, security issues & solutions. Vehicular Communications, 20:100182.
Wan, E. A. and Van Der Merwe, R. (2000). The unscented kalman filter for nonlinear estimation. In Adaptive Systems for Signal Processing, Communications, and Control Symposium, pages 153–158. IEEE.
Wan, G., Yang, X., Cai, R., Li, H., Zhou, Y., Wang, H., and Song, S. (2018). Robust and precise vehicle localization based on multi-sensor fusion in diverse city scenes. In International Conference on Robotics and Automation, pages 4670–4677. IEEE.
Wang, J., Liu, J., and Kato, N. (2018). Networking and communications in autonomous driving: A survey. IEEE Communications Surveys & Tutorials, 21(2):1243–1274.
Publicado
16/08/2021
Como Citar
LOBATO JUNIOR, Wellington; SOUZA, Allan M. de; CERQUEIRA, Eduardo; ROSÁRIO, Denis; VILLAS, Leandro.
Mecanismo Eficiente de Localização Cooperativa para Veículos Autônomos Conectados. In: SIMPÓSIO BRASILEIRO DE REDES DE COMPUTADORES E SISTEMAS DISTRIBUÍDOS (SBRC), 39. , 2021, Uberlândia.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2021
.
p. 336-349.
ISSN 2177-9384.
DOI: https://doi.org/10.5753/sbrc.2021.16731.
