Offset Eliminative Map Matching Algorithm for Intersection Active Safety Applications

Digital map information and continuous positioning systems (CPS) are being increasingly used in active safety applications. However due to imprecision associated with digital road maps and inevitable inaccuracies in CPS positions, a map matching algorithm is essential for these applications. One field of active safety in which navigation information can be used is intersection active safety applications (IASA) which requires a precise position of vehicle relative to road network in an intersection. In this paper a novel map matching algorithm for an IASA is presented. To determine the vehicle trajectory relative to the road network, the proposed map matching algorithm calculates the general offset between digital road map and the CPS given vehicle trajectory by fusion of local offsets with a Kalman filter, incorporating their respective uncertainties. The created offset eliminative map matching algorithm was tested on a complex urban trajectory and showed very encouraging results