Integrity monitoring of navigation systems using repetitive journeys

Currently, Advanced Driving Assistance Systems (ADAS) increasingly rely on information stored in vehicle on board digital maps. The vehicle position is projected onto the map to establish oncoming road context. However, errors might exist in the road geometry stored in the maps. The integrity of this map-matched estimate must be monitored in real-time to avoid errors that can lead to hazardous situations. This paper presents a monitoring system and fault detection, isolation and adaptation formalism which benefits of multiple vehicle journeys (e.g. commuting). We demonstrate that it is possible to assert correct navigation information within the first journey to a new area and to isolate areas where the road geometry is erroneous after the second journey. The approach takes into account errors that might occur on the estimation of the global vehicle position. The proposed formalism was experimentally validated using a passenger vehicle driven in different map and GNSS conditions.