The C-ITS requires the lane level positioning of the vehicle in the land transportation environment, and it is most effective to utilize the GNSS. In the precision positioning system based on satellite navigation, the evaluation of dynamic environment of lane level positioning performance should be accompanied and the evaluation system configuration should be preceded. In addition, performance analysis must be performed according to various environments that change according to traffic or road conditions in a dynamic environment. In this paper, we describe with the performance of traffic and road environment through the evaluation system of lane positioning precision positioning user system based on satellite navigation system. The numerical performance evaluation was carried out based on the data collected by carrying out the actual testbed driving. The performance evaluation by the actual driving trajectory and driving image comparison was performed to derive and analyse the evaluation results of the vehicle lane level positioning user system.

Keywords: GNSS, RTK, lane level positioning