This paper develops a stop-line-aided cooperative positioning framework for connected vehicles, which creatively utilizes the location of the stop-line to achieve the positioning enhancement for a vehicular ad-hoc network (VANET) in intersection scenarios via Vehicle-to-Vehicle (V2V) communication. Firstly, a self-positioning correction scheme for the first stopped vehicle is presented, which applies the stop line information as benchmarks to correct the GNSS/INS positioning results. Then, the local observations of each vehicle are fused with the position estimates of other vehicles and the inter-vehicle distance measurements by using an extended Kalman filter (EKF). In this way, the benefits of the first stopped vehicle are extended to the whole VANET. Such a cooperative inertial navigation (CIN) framework can greatly improve the positioning performance of the VANET. Finally, experiments in Beijing show the effectiveness of the proposed stop-line-aided cooperative positioning framework.


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    Titel :

    Stop-Line-Aided Cooperative Positioning for Connected Vehicles


    Beteiligte:
    Wang, Xingqi (Autor:in) / Jiang, Chaoyang (Autor:in) / Sheng, Shuxuan (Autor:in) / Xu, Yanjie (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.02.2023


    Format / Umfang :

    2695604 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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