Proposed Localization Scenario for Autonomous Vehicles in GPS Denied Environment
The improvement of Advanced Driver Assistance Systems (ADAS) has been increased significantly in last decades. One of the important topics related to ADAS is the autonomous parking system. This system faces many challenges to have an accurate estimation f
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Computers and Systems Department, Electronics Research Institute, Giza, Egypt {hananhussein,sherine}@eri.sci.eg Valeo Inter-Branch and Automotive Software Corporate, Cairo, Egypt [email protected]
Abstract. The improvement of Advanced Driver Assistance Systems (ADAS) has been increased significantly in last decades. One of the important topics related to ADAS is the autonomous parking system. This system faces many challenges to have an accurate estimation for the node (vehicle) position in indoor scenario, especially in the absence of GPS. Therefore, an alternative localization system with precise positioning is mandatory. This paper addresses different indoor localization techniques with their advantages and disadvantage. Furthermore, several localization technologies have been studied such as UltraWideBand (UWB), WiFi, Bluetooth, and Radio Frequency Identification Device (RFID). The paper compares between these different technologies highlighting their coverage range, localization accuracy, applied techniques, advantages, and disadvantages. The key contribution of this paper is proposing a scenario for underground garage. Finally, a localization system based UWB-Time Difference of Arrival (TDoA) is suggested deployed on IEEE 802.15.4a UWB-PHY standard hardware platform with several Anchor Nodes (ANs), enabling communication and localization with significant accuracy. Keywords: Indoor localization
Autonomous vehicle UWB
1 Introduction In the last couple of years, localization [1] has become one of the most interesting topics the industry field especially in vehicular technology era. Localization systems become the key factor for many deployed applications, like Advanced Driver Assistance Systems (ADAS), Intelligent Transportation System (ITS), military applications, automation in precision farming, Internet of Things (IoT) [2],….etc. In all these applications, it is mandatory to have accurate position. In autonomous parking system, vehicles are driving autonomously to their parking slots inside the underground garage [3]. Such system needs special wireless network in order to communicate vehicles with some sensors in this garage. In addition, localization system is required high precision of positioning (i.e. few centimeters). Nevertheless in © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021 A. E. Hassanien et al. (Eds.): AISI 2020, AISC 1261, pp. 608–617, 2021. https://doi.org/10.1007/978-3-030-58669-0_55
Proposed Localization Scenario for Autonomous Vehicles
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independent GPS environment such as underground parking garages or indoor places, Global Navigation Satellite System (GNSS) doesn’t support localization. Thus, different local positioning systems have been proposed recently [4] to solve this problem with high accuracy. In autonomous parking scenario, the main problems are: • Navigate a vehicle autonomously inside the underground parking garage. • The navigation process should have localization accuracy in range of centimete
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