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Interactive maps for the visualization of ESRIUM automated driving tests with various EGNSS localization solutions

<p>In order to make the test results available to a broader audience in an easy manner, we have generated interactive maps. These maps are attached to this report and can be viewed in a web-browser.&nbsp;</p><p>Due to the large number of datasets, we have color-coded them on the map and in the menu. An arbitrary number of datasets can be selected at a time.</p><p>Due to the high accuracy of the EGNSS receivers, one can clearly identify the lane on which the vehicle was driving, and where the vehicle was performing a lane-change. However, the satellite/areal-images are not perfectly geo-referenced, thus one can notice a slight offset between satellite/areal-images and real-world lanes.</p><p>&nbsp;</p><p><strong>How to use the map?</strong></p><ul><li>The map can be used in a similar manner than other map-applications, such as google maps. By using the mouse, you can set the focus on the area of your interest. By using the +/- buttons (top left), you can zoom in/out.</li><li>By hovering over the layer-symbol (top right), a popup emerges. Here, you can select different background-tiles (such as satellite/areal-images). In addition, you can select different datasets which should be visualized on the map.</li></ul><p><strong>Background-tiles:</strong></p><ul><li>Basemap – Sat - Satellite/Areal images (from Basemap) -Symbolic map with high resolution (from Basemap)</li><li>Basemap – HighDPI Symbolic map with high resolution (from Basemap)</li><li>OpenStreetMap - Symbolic map (from OpenStreetMap)</li><li>OpenTopoMap - Symbolic map including topology information (from OpenTopoMap)</li></ul><p><strong>Datasets:</strong></p><ul><li>GNSS (Vehicle) - Position of vehicle, according to on-board GPS receiver</li><li>EGNSS (AsteRx SB3 Pro+) - Position of vehicle, according to AsteRx SB3 Pro+ receiver</li><li>EGNSS (mosaic-X5) - Position of vehicle, according to mosaic-X5 receiver</li><li>EGNSS (mosaic-H) - Position of vehicle, according to mosaic-H receiver</li><li>PVT Mode: EGNSS (AsteRx SB3 Pro+) - PVT Mode of AsteRx SB3 Pro+ receiver</li><li>PVT Mode: EGNSS (mosaic-X5) - &nbsp;PVT Mode of mosaic-X5 receiver</li><li>PVT Mode: EGNSS (mosaic-H) - &nbsp;PVT Mode of mosaic-H receiver</li><li>in-lane Offset Change-Request - Position, at which an in-lane offset change (relative to middle of the current lane) was requested via C-ITS</li><li>Lane Change to left - &nbsp;Position, at which a lane-change towards left was performed&nbsp;</li><li>Lane Change to right - Position, at which a lane-change towards right was performed</li></ul><p>Interactive maps are attached are two precision levels one with 4 and the other in 7 digits. The list files and the corresponding test conditions are listed below.&nbsp;</p><p>Test velocities [km/h]: 90, 110, 130&nbsp;</p><p>interactive map files:&nbsp;</p><p>speed: 90 km/h</p><ul><li>Testrun_01.html</li><li>Testrun_03.html</li><li>Testrun_04.html</li></ul><p>speed: 110 km/h</p><ul><li>Testrun_05.html</li><li>Testrun_06.html</li><li>Testrun_07.html</li></ul><p>speed: 130 km/h&nbsp;</p><ul><li>Testrun_08.html</li><li>Testrun_09.html</li><li>Testrun_10.html</li></ul>