Localization Integrity for Intelligent Vehicles Through Fault Detection and Position Error Characterization
نویسندگان
چکیده
Localization integrity consists in providing a real-time measure of the level trust to be placed localization estimates as vehicles operate. It provides means knowing whether position are usable for navigation purposes. This paper formalizes concept and its underlying principles. Vehicles operate different environments, so multiple sensors used ensure required performance. Different sources error exist. They must bounded according acceptable risk application. presents generic approach addressing integrity. combines measurement rejection (for measurements considered faults) characterization. For this purpose, multi-sensor data fusion with Fault Detection Exclusion algorithm is constituted using bank information filters. These filters allow detected faults isolated without any prior assumption regarding number simultaneous errors. In addition, external expressed Protection Level solution. uses Student’s $t$ -distribution order bound distribution applicable small risks after learning step. The tested on acquired public roads an experimental vehicle equipped off-the-shelf proprioceptive exteroceptive together HD map. results obtained validate proposed approach.
منابع مشابه
Automated Road Lane Detection for Intelligent Vehicles
Automated road lane detection is the crucial part of vision-based driver assistance system of intelligent vehicles. This driver assistance system reduces the road accidents, enhances safety and improves the traffic conditions. In this paper, we present an algorithm for detecting marks of road lane and road boundary with a view to the smart navigation of intelligent vehicles. Initially, it conve...
متن کاملSoft-Error Detection through Software Fault-Tolerance Techniques
The paper describes a systematic approach for automatically introducing data and code redundancy into an existing program written using a high-level language. The transformations aim at making the program able to detect most of the soft-errors affecting data and code, independently of the Error Detection Mechanisms (EDMs) possibly implemented by the hardware. Since the transformations can be au...
متن کاملIntelligent Agents for Proactive Fault Detection
A s the Internet becomes a critical component of our society, a key challenge is to maintain network availability and reliability. The increasing number of networks is making down-time more costly. Network management tools and techniques must therefore become better at detecting and identifying network faults. Fault management is no easy task, however. Fundamental changes to the network occur m...
متن کاملTraffic Sign Detection and Recognition System for Intelligent Vehicles
Road traffic signs provide instructions, warning information, to regulate driver behavior. In addition, these signs provide a reliable guarantee for safe and convenient driving. The Traffic Sign Detection and Recognition (TSDR) system is one of the primary applications for Advanced Driver Assistance Systems (ADAS). TSDR has obtained a great deal of attention over the recent years. But, it is st...
متن کاملFault-tolerant quantum error detection
Quantum computers will eventually reach a size at which quantum error correction becomes imperative. Quantum information can be protected from qubit imperfections and flawed control operations by encoding a single logical qubit in multiple physical qubits. This redundancy allows the extraction of error syndromes and the subsequent detection or correction of errors without destroying the logical...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Intelligent Transportation Systems
سال: 2022
ISSN: ['1558-0016', '1524-9050']
DOI: https://doi.org/10.1109/tits.2020.3027433