Map-Matching Integrity using Multi-Sensor Fusion and Multi- Hypothesis Road Tracking
نویسندگان
چکیده
Efficient and reliable map matching algorithms are essential for Advanced Driver Assistance Systems. While most of the existing solutions fail to provide trustworthy outputs when the situation is ambiguous (road intersections, roundabouts, parallel roads ...), we present in this paper a new map-matching method based on a multi-hypothesis road tracking that takes advantage of the geographical database road connectedness to provide a reliable road-matching solution with a confidence indicator that can be used for integrity monitoring purposes. Index Terms – GNSS-based Localization, Map-Matching, Multi-Hypothesis Tracking, Integrity.
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