Realtime Experiments in Markov-Based Lane Position Estimation Using Wireless Ad-Hoc Network

Author Info

Thanh-Son Dao, University of Waterloo
Luke Ng, University of Waterloo
Christopher M. Clark, California Polytechnic State University - San Luis ObispoFollow
Jan Paul Huissoon, University of Waterloo

Recommended Citation

Published in Proceedings of the 2008 IEEE Intelligent Vehicles Symposium: Eindhoven, The Netherlands, June 4, 2008, pages 901-906.

The definitive version is available at https://doi.org/10.1109/IVS.2008.4621158.

Abstract

This paper presents real-time experimental results for a new lane positioning system using Markov localization based on inter-vehicle communication. The proposed system uses low-cost GPS receivers to provide vehicle locations. The system also combines a low-pass Butterworth filter and a particle filter for GPS receiver noise rejection. To study the new lane positioning system, a multi-threaded program in C++, that enables the communication between vehicles and determines their lane positions in real-time, was developed. Experiments using this software validate the effectiveness of the lane positioning system.

Disciplines

Computer Sciences

Copyright

2008 IEEE.

Publisher statement

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