Pseudo - Lane - Level , Low - Cost GPS Positioning with Vehicle - to - Infrastructure Communication and Driving Event Detection

This paper presents a framework to obtain pseudo lane-level positioning using low-cost GPS and driving event detection within the environment of vehicle-toinfrastructure (v2i) communication. In this context, pseudo means that lane level accuracy is achieved only under the assumption that v2i is available and there is no GPS outage. GPS errors can be categorized into common-mode errors and noncommon-mode errors, where common-mode errors can be mitigated by differential GPS (DGPS) but noncommon-mode cannot. First, common-mode GPS error is cancelled from differential corrections broadcast from the road-side equipment (RSE). With v2i communication, a high fidelity roadway layout map and satellite pseudo-range corrections are broadcast by the RSE. The on-board equipment (OBE) corrects for the GPS common-mode errors based on the received pseudo-range corrections from the RSE, the current lane estimate, and the segment status determined by a general map matching algorithms. To enhance and correct the lane level positioning, a statistical process control approach is used to detect significant vehicle driving events such as turning at an intersection or lanechanging. Whenever a turn event is detected, a mathematical program is solved to estimate and update the GPS noncommonmode errors. Next Generation Simulation (NGSIM) data is used to validate driving behavior for turn movements and to calibrate the lane-changing detection model. A field experiment is conducted to validate the positioning models. Index terms – Lane-level GPS positioning, lane-changing detection, vehicle-to-infrastructure communication, statistical process control