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Title: Online integrity alert limit determination method for autonomous vehicle navigation
Authors: Meng, Q 
Hsu, LT 
Feng, S
Issue Date: 2020
Source: Lecture notes in electrical engineering, 2020, v. 651, p. 696-706
Abstract: Integrity is the critical performance indicator for navigation in safety-critical applications such as autonomous vehicles. Alert limit is one of the representative parameter in integrity which defines the maximum tolerable positioning error for an operation to safely proceed. However the integrity requirements for GNSS assessment are quite different from those for autonomous vehicles. For autonomous vehicles, a reasonable alert limit needs to ensure the vehicle security and take full advantage of the space between vehicle and lane as much as possible. Based on the analysis of differences from civil aviation to autonomous vehicles, an improved alert limit determination method is proposed in this paper. The kinematic model is firstly introduced into the online determination of alert limit. The integrity risk on two sides are allocated optimally respect to the road geometry and kinematic model. The fixed cuboid bounding box is replaced by a subversive fan-shaped bounding box which is more reasonable to cover the safe-critical areas. The experiment test results compared with those of the Ford model also verified the superiority of the proposed method. Finally the paper also gives the alert limits calculated based on the Chinese standards and hopefully it could provide some references.
Keywords: Alert limit
Autonomous vehicles
Kinematic model
Publisher: Springer
Journal: Lecture notes in electrical engineering 
ISSN: 1876-1100
EISSN: 1876-1119
DOI: 10.1007/978-981-15-3711-0_62
Description: 11th China Satellite Navigation Conference, CSNC 2020, 22-25 November 2020, Chengdu, China
Rights: © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2020
This version of the article has been accepted for publication, after peer review (when applicable) and is subject to Springer Nature’s AM terms of use(, but is not the Version of Record and does not reflect post-acceptance improvements, or any corrections. The Version of Record is available online at:
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