How to manage conflict and ambiguities in localization and map matching

Abstract

Since the use of systems of satellite positioning such as the global positioning system (GPS), applications have tried to locate vehicles on maps representing the environment with their attributes. For one decade, this has led to both localization and navigation services for users. Recently, new researches have begun in order to extend the functionalities of the existing systems and thus to develop new applications using these technologies in the design of driver assistance systems. These new systems will indeed allow us to anticipate road departures or prevent overspeed turn approaches. Nevertheless, to deploy such new functionalities, it is imperative to ensure the association of vehicle position with one of the roadmap segments. In this article, we propose a new approach based on the belief theory taking into account the imperfections of available data in order to ensure the positioning and tracking of a vehicle on a roadmap and to manage conflicts and ambiguities using a multi-hypotheses decision.