Stop-Line-Aided Cooperative Positioning for Connected Vehicles

Xingqi Wang, Chaoyang Jiang*, Shuxuan Sheng, Yanjie Xu

*Corresponding author for this work

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Abstract

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.

Original languageEnglish
Pages (from-to)1765-1776
Number of pages12
JournalIEEE Transactions on Intelligent Vehicles
Volume8
Issue number2
DOIs
Publication statusPublished - 1 Feb 2023

Keywords

  • Cooperative positioning
  • V2V communication
  • cooperative inertial navigation
  • extended Kalman filter
  • stop line

Cite this

Wang, X., Jiang, C., Sheng, S., & Xu, Y. (2023). Stop-Line-Aided Cooperative Positioning for Connected Vehicles. IEEE Transactions on Intelligent Vehicles, 8(2), 1765-1776. https://doi.org/10.1109/TIV.2022.3233886