Adaptive cruise control radar-based positioning in GNSS challenging environment

摘要

Autonomous and land vehicles' navigation in urban canyons requires aiding from other systems to the Global Navigation Satellite System (GNSS). This kind of environment is characterised by containing high rise buildings and long tunnels which interfere with the GPS satellite's signals causing its partial or total blockage. Therefore, the utilisation of another positioning source with high fidelity solution is essential during long outage periods. The Adaptive Cruise Control (ACC) system is a critical unit in the Advanced Drive Assistant System. The ACC measures the relative speed and distance between the on-board vehicle and the vehicle in front. In this study, the ACC radar and an azimuth gyroscope are utilised to produce a self-contained positioning system. The position solution of this system is utilised to update the Inertial Navigation System during the GNSS outage periods. The proposed system was tested over real road trajectories which were conducted in an urban canyon to validate the efficiency of the system.