Collaborative Accurate Vehicle Positioning Based on Global Navigation Satellite System and Vehicle Network Communication

Abstract

Intelligence is a direction of development for vehicles and transportation. Accurate vehicle positioning plays a vital role in intelligent driving and transportation. In the case of obstruction or too few satellites, the positioning capability of the Global navigation satellite system (GNSS) will be significantly reduced. To eliminate the effect of unlocalization due to missing GNSS signals, a collaborative multi-vehicle localization scheme based on GNSS and vehicle networks is proposed. The vehicle first estimates the location based on GNSS positioning information and then shares this information with the environmental vehicles through vehicle network communication. The vehicle further integrates the relative position of the ambient vehicle observed by the radar with the ambient vehicle position information obtained by communication. A smaller error estimate of the position of self-vehicle and environmental vehicles is obtained by correcting the positioning of self-vehicle and environmental vehicles. The proposed method is validated by simulating multi-vehicle motion scenarios in both lane change and straight-ahead scenarios. The root-mean-square error of the co-location method is below 0.5 m. The results demonstrate that the combined vehicle network communication approach has higher accuracy than single GNSS positioning in both scenarios.