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Theoretical Limits on Cooperative Positioning in Mixed Traffic
RISE - Research Institutes of Sweden, Safety and Transport, Measurement Science and Technology.ORCID iD: 0000-0002-1210-1680
University of Borås, Sweden.
Chalmers University of Technology, Sweden.
Chalmers University of Technology, Sweden.
2019 (English)In: IEEE Access, E-ISSN 2169-3536, Vol. 7, p. 49712-49725, article id 8688455Article in journal (Refereed) Published
Abstract [en]

A promising solution to meet the demands on accurate positioning and real-time situational awareness in future intelligent transportation systems (ITSs) is cooperative positioning, where vehicles share sensor information over the wireless channel. However, the sensing and communication technologies required for this will be gradually introduced into the market, and it is, therefore, important to understand what performance we can expect from cooperative positioning systems as we transition to a more modern vehicle fleet. In this paper, we study what effects a gradual market penetration has on cooperative positioning applications, through a Fisher information analysis. The simulation results indicate that solely introducing a small fraction of automated vehicles with high-end sensors significantly improves the positioning quality but is not enough to meet the stringent demands posed by safety critical ITS applications. Furthermore, we find that retrofitting vehicles with low-cost satellite navigation receivers and communication have marginal impact when the positioning requirements are stringent and that the longitudinal road position can be estimated more accurately than lateral. © 2013 IEEE.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2019. Vol. 7, p. 49712-49725, article id 8688455
Keywords [en]
cooperative perception, cooperative positioning, Cramér-Rao bounds, Intelligent transportation systems, localization and mapping, Advanced vehicle control systems, Fisher information matrix, Fleet operations, Intelligent systems, Real time systems, Safety engineering, Vehicle to vehicle communications, Vehicles, Communication technologies, Cooperative positioning systems, Localization and mappings, Satellite navigation receiver, Situational awareness, Cooperative communication
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Natural Sciences
Identifiers
URN: urn:nbn:se:ri:diva-38913DOI: 10.1109/ACCESS.2019.2910658Scopus ID: 2-s2.0-85065149644OAI: oai:DiVA.org:ri-38913DiVA, id: diva2:1319764
Note

 Funding details: European Association of National Metrology Institutes, EURAMET; Funding details: European GNSS Agency; Funding details: VINNOVA, Transport, 2015-06478; Funding details: H2020 Euratom, EURATOM, 776307; Funding text 1: This research was supported, in part, by the National Metrology Institute hosted at RISE Research Institutes of Sweden, which in turn is partly funded by VINNOVA under the Program for National Metrology (grant 2015-06478); the PRoPART (Precise and Robust Positioning for Automated Road Transport) Project, funded by the European GNSS Agency under the EU H2020 Program (grant 776307).

Available from: 2019-06-03 Created: 2019-06-03 Last updated: 2019-06-18Bibliographically approved

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