Abstract:

To accurately acquire the vehicle location in the GNSS restricted environment such as urban canyon， a visual vehicle locating method is proposed with single road side unit （RSU） assisted. A camera is used to measure the lateral distance from the vehicle to the lane lines， and the RSU and vehicle are interacted for the distance measurement and communications. The information of GNSS， IMU， RSU and camera observed are fused through the error state Kalman filtering algorithm to fulfill the accurate estimation of the location and orientation of vehicle. Real vehicle tests are conducted to analyze the effects of the ranging information of single RSU and the lateral distance measured on positioning results. The results show that the ranging information of single RSU can effectively reduce the longitudinal positioning error， but its correction effects of lateral positioning error gradually reduce with the increase of the distance from RSU. This defect can be effectively remedied by lateral distance measurement， and complementing both advantages results in a root mean square error in horizontal positioning less than 10 cm， verifying the effectiveness of the method proposed.

Key words: vehicle positioning, visual ranging, road side unit, error state Kalman filtering