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            <title xml:lang="en">ROAD VEHICLE POSITIONING AT THE LANE LEVEL BASED ON GNSS INTEGRATION WITH ENHANCED MAPS</title>
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                <forename type="first">Rafael</forename>
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              <p>The determination of the vehicle position at the lane level is an important challenge in road navigation that can bring new possibilities for collision avoidance or advanced driver assistant systems. An interesting approach to this problem is the combination of GNSS with enhanced maps that include precise lane information. This paper presents a novel method for mapmatching and positioning at the lane level based on the integration of GNSS and deadreckoning measurements with a novel highly accurate road description. Experimental results in complex scenarios with multiple lanes show the suitability of the proposed method.</p>
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