Robust positioning in safety applications for the CVIS project

This paper describes hybrid fusion module used in a strong localization context (POMA) for embedded vehicle applications. This work has been developed in order to give an answer to the POMA (Positioning, Maps and local referencing) sub project objectives. These objectives are to provide, for a set of high level applications, a positioning service included a service quality, a metric accuracy (lane) and a robust result. This work is involved in CVIS European project. The use of IMM approach in the Hybrid Fusion module will be justified in comparison to the different current probabilistic methods. The IMM, contrary to the non modular methods, is based on the discretization of the vehicle evolution space into simple maneuvers, represented each by a simple dynamic model such as constant velocity or constant turning etc. This allows the method to be optimized for highly dynamic vehicles. The application of this positioning service will be presented in a real time embedded architecture. The presented results are based on real measurements collected from representatives scenarios (test track, peri-urban road, highway). These results show a real interest in using the new IMM method in order to reach the POMA's objectives.