Lane Determination with GPS Precise Point Positioning

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Modern intelligent transport solutions can achieve an improvement of traffic flow on motorways. With lane-specific measurements and lane-specific control, more measures are possible. Single frequency precise point positioning (PPP) is a newly developed and affordable technique to achieve an improved position accuracy compared with global positioning system (GPS) standalone positioning. GPS-PPP allows for sub-meter accurate positioning, in real time, of vehicles on a motorway. This paper tests this technique in real life; moreover, it presents a methodology to map the lanes on a motorway using data collected by this technique. The methodology exploits the high accuracy and the fact that the most driving is within a lane. In a field test, a GPS-PPP equipped vehicle drives a specific motorway stretch 100 times, for which the GPS-PPP trajectory data are collected. Using these data, the positions and the widths of different lanes are successfully estimated. Comparison with the ground truth shows a dm accuracy. With the parametrized lanes, vehicles can be tracked down to a lane with the GPS-PPP device.

Original languageEnglish
Article number7855797
Pages (from-to)2503-2513
Number of pages11
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number9
Publication statusPublished - 1 Sep 2017


  • Advanced driver assistance systems
  • automated highways
  • global positioning system
  • intelligent transportation systems
  • intelligent vehicles


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