Interpenetrating Cooperative Localization in Dynamic Connected Vehicle Networks

TL;DR

This paper introduces the Interpenetrating Cooperative Localization (ICL) method to improve vehicle localization accuracy in dynamic networks with limited communication, demonstrating significant error reduction in real-world traffic data.

Contribution

The paper presents a novel ICL method that enables information sharing across vehicle groups without full network connectivity, enhancing localization in dynamic conditions.

Findings

Localization errors reduced by up to 70%.

Effective in low connectivity scenarios.

Validated with real traffic data from Ann Arbor.

Abstract

In this paper, we proposed the Interpenetrating Cooperative Localization (ICL) method to enhance the localization accuracy in dynamic connected vehicle networks. This mechanism makes the information from one group of connected vehicles interpenetrate to other groups without full communication between all nodes, thus improving the utility of information in a low connected vehicle penetration situation. We tested the approach using the dynamic traffic data collected in the Safety Pilot Model Deployment program in Ann Arbor Michigan, USA, with dynamic changing networks due to the traveling of vehicles and packet drops of the Dedicated Short-Range Communication. Results show enhancement of localization accuracy with errors reduced by up to 70 % even in complex dynamic scenarios.