Abstract
This paper compares two positioning systems, namely ultra-wideband (UWB) based micro-location technology and dead reckoning and a RPLidar based simultaneous localization and mapping (SLAM) solution. This new approach can be used to improve the quality of the positioning system and increase the functionality of advanced driver assistance systems (ADAS). This is achieved by using stationary nodes and UWB tags on the vehicles. Thus, the redundancy of localization can be achieved by this approach, e.g., as a backup to onboard sensors like RPlidar or radar. Additionally, UWB based micro-location allows additional data channels to be used for communication purposes. Furthermore, it is shown that the regular use of correction data increases UWB and dead reckoning accuracy. These correction data can be based on onboard sensors. This shows that it is promising to develop a system that fuses onboard sensors and micro-localization for safety-critical tasks like the platooning of commercial vehicles.
Highlights
The current massive car traffic requires changes in methods of transport utilization
The research conducted shows the efficiency of the UWB positioning system in which accuracy can be increased by using RPLidar data for periodic correction
The main advantage of using the only odometry is that no additional infrastructure is required for localization of the ego-vehicle
Summary
The current massive car traffic requires changes in methods of transport utilization. One of the ways to increase the efficiency of transport utilization is the usage of an automatic highway system (AHS) [1], including automated platooning [2]. E.g., lidar technology to ensure this purpose. Thanks to the reflection of the laser beam, it is able to provide the distance to the object. This solution has its drawbacks, related to the reflection itself (associated, for example, with the surface or the need to mount at a certain height), and with the possibility of distortions, especially in the form of weather conditions
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