Soatti, Gloria und Nicoli, Monica und Garcia, Nil und Benoit, Denis und Raulefs, Ronald und Wymeersch, Henk (2018) Implicit Cooperative Positioning in Vehicular Networks. IEEE Transactions on Intelligent Transportation Systems. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tits.2018.2794405. ISSN 1524-9050.
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Kurzfassung
Absolute positioning of vehicles is based on Global Navigation Satellite Systems (GNSS) combined with on-board sensors and high-resolution maps. In Cooperative Intelligent Transportation Systems (C-ITS), the positioning performance can be augmented by means of vehicular networks that enable vehicles to share location-related information. This paper presents an Implicit Cooperative Positioning (ICP) algorithm that exploits the Vehicle-to-Vehicle (V2V) connectivity in an innovative manner, avoiding the use of explicit V2V measurements such as ranging. In the ICP approach, vehicles jointly localize non-cooperative physical features (such as people, traffic lights or inactive cars) in the surrounding areas, and use them as common noisy reference points to refine their location estimates. Information on sensed features are fused through V2V links by a consensus procedure, nested within a message passing algorithm, to enhance the vehicle localization accuracy. As positioning does not rely on explicit ranging information between vehicles, the proposed ICP method is amenable to implementation with off-the-shelf vehicular communication hardware. The localization algorithm is validated in different traffic scenarios, including a crossroad area with heterogeneous conditions in terms of feature density and V2V connectivity, as well as a real urban area by using Simulation of Urban MObility (SUMO) for traffic data generation. Performance results show that the proposed ICP method can significantly improve the vehicle location accuracy compared to the stand-alone GNSS, especially in harsh environments, such as in urban canyons, where the GNSS signal is highly degraded or denied.
elib-URL des Eintrags: | https://elib.dlr.de/118626/ | ||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||
Titel: | Implicit Cooperative Positioning in Vehicular Networks | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | 2018 | ||||||||||||||||||||||||||||
Erschienen in: | IEEE Transactions on Intelligent Transportation Systems | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
DOI: | 10.1109/tits.2018.2794405 | ||||||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||
Name der Reihe: | Transactions on Intelligent Transportation Systems | ||||||||||||||||||||||||||||
ISSN: | 1524-9050 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | cooperative positioning, questions | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Kommunikation und Navigation | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R KN - Kommunikation und Navigation | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben GNSS2/Neue Dienste und Produkte (alt) | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Kommunikation und Navigation > Nachrichtensysteme | ||||||||||||||||||||||||||||
Hinterlegt von: | Raulefs, Dr.-Ing. Ronald | ||||||||||||||||||||||||||||
Hinterlegt am: | 08 Feb 2018 14:02 | ||||||||||||||||||||||||||||
Letzte Änderung: | 15 Jun 2023 07:54 |
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