Integrity Concept for Sensor Fusion Algorithms used in a Prototype Vehicle for Automated Driving

For automated driving high-integrity localization information is essential. Often sensor fusion algorithms are used to fulfill this task. In this work three implementations of integrity concepts for such algorithms used in automated driving are compared. Therefore, requirements for sensor fusion algorithms used for automated driving functions of a prototype vehicle in a German research project are derived. Known integrity concepts are reviewed. A selection of three concepts that include the computation of protection levels is implemented. They are evaluated using a set of measurement data obtained for our loosely coupled GNSS/INS/Odometry fusion algorithm. With the chosen set of tuning parameters, all implemented protection levels bound the horizontal position error in the given measurements according to the specified integrity risk.