Abstract
Development and wide use of route guidance systems lead to the need for suitable digital maps that can be used for some advanced applications. Sufficient accuracy of road geometry with emphasis on road centerline positions and curvature is crucial. In this paper is presented a method for finding road centerline curvature from raw GPS data. The approach consists of a few processing steps. First it is necessary to fit raw data of each road section using B-splines, and generate equidistant vertices of polyline of the fitted curve. Then follows the appliance of stereographic projection of chosen polyline segments onto the unit sphere. Using the least square method, the plane that best fits the points on the unit sphere is found and the circle that is the intersection of the plane and the unit sphere. Stereographic projection of this circle back to the equatorial plane gives the corresponding circular arc and curvature. The method is also applicable in higher dimensions. The 3D case is numerically presented and results show that the proposed procedure is efficient and yields accurate results.
Highlights
Precise digital road geometry is a fundamental for development of various applications regarding intelligent transport systems, traffic safety and other traffic-related areas (Barai 2003).The accuracy of available digital maps suffices for some useful applications, such as navigation and route guidance systems
In this paper is presented a method for finding road centerline curvature from raw global positioning systems (GPS) data
Using the least square method, the plane that best fits the points on the unit sphere is found and the circle that is the intersection of the plane and the unit sphere
Summary
Precise digital road geometry is a fundamental for development of various applications regarding intelligent transport systems, traffic safety and other traffic-related areas (Barai 2003). There are other applications, where a combination of enhanced digital road maps and precise positioning systems is necessary. Some possible applications for which detailed road geometry is needed are Rollover Warning and Control system, Lane Departure Warning (LDW) and lane-level navigation. Due to the complexity of such images, the procedure is practically impossible to automate Another option is statistical approach, where a large quantity of possibly noisy data from global positioning systems (GPS) for a fleet of vehicles is combined. Accurate determination of the road centerline is necessary for deployment of advanced applications, such as LDW for lateral control These accuracy requirements were integrated within the NextMAP project that deals with the economical and technical aspects of digitally defined road maps. Since roadway design guidelines link the radius of turn curvature with the max speed for that turn, information on curvature radii together with other data can make CSW reliable and useful
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