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Implicit Cooperative Positioning in Vehicular Networks

Soatti, Gloria and Nicoli, Monica and Garcia, Nil and Benoit, Denis and Raulefs, Ronald and 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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Abstract

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.

Item URL in elib:https://elib.dlr.de/118626/
Document Type:Article
Title:Implicit Cooperative Positioning in Vehicular Networks
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Soatti, GloriaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Nicoli, MonicaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Garcia, NilUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Benoit, DenisUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Raulefs, RonaldUNSPECIFIEDhttps://orcid.org/0000-0002-3409-6640UNSPECIFIED
Wymeersch, HenkUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:2018
Journal or Publication Title:IEEE Transactions on Intelligent Transportation Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/tits.2018.2794405
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:Transactions on Intelligent Transportation Systems
ISSN:1524-9050
Status:Published
Keywords:cooperative positioning, questions
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Vorhaben GNSS2/Neue Dienste und Produkte (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Raulefs, Dr.-Ing. Ronald
Deposited On:08 Feb 2018 14:02
Last Modified:15 Jun 2023 07:54

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