相关论文: Optimization of Vehicle Connections in V2V-based C…
Cooperative map matching (CMM) uses the Global Navigation Satellite System (GNSS) position information of a group of vehicles to improve the standalone localization accuracy. It has been shown, in our previous work, that the GNSS error can…
Cooperative localization with map matching has been shown to reduce Global Navigation Satellite System (GNSS) localization error from several meters to sub-meter level by fusing the GNSS measurements of four vehicles in our previous work.…
We proposed a fusion mechanism for the distributed cooperative map matching (CMM) within the vehicular ad-hoc network. This mechanism makes the information from each node reachable within the network by other nodes without direct…
The development of cooperative vehicle safety (CVS) applications, such as collision warnings, turning assistants, and speed advisories, etc., has received great attention in the past few years. Accurate vehicular localization is essential…
Prevalent solutions for Connected and Autonomous vehicle (CAV) mapping include high definition map (HD map) or real-time Simultaneous Localization and Mapping (SLAM). Both methods only rely on vehicle itself (onboard sensors or embedded…
This paper addresses vehicle positioning, a topic whose importance has risen dramatically in the context of future autonomous driving systems. While classical methods that use GPS and/or beacon signals from network infrastructure for…
Absolute positioning of vehicles is based on Global Navigation Satellite Systems (GNSS) combined with on-board sensors and high-resolution maps. In Cooperative Intelligent Transportation Systems (C-ITS), the positioning performance can be…
Accurate vehicle localization is a critical challenge in urban environments where GPS signals are often unreliable. This paper presents a cooperative multi-sensor and multi-modal localization approach to address this issue by fusing data…
The development of vehicle-to-vehicle (V2V) communication facil-itates the study of cooperative positioning (CP) techniques for vehicular applications. The CP methods can improve the posi-tioning availability and accuracy by inter-vehicle…
Cooperative perception is a promising technique for intelligent and connected vehicles through vehicle-to-everything (V2X) cooperation, provided that accurate pose information and relative pose transforms are available. Nevertheless,…
The lane-level localization accuracy is very important for autonomous vehicles. The Global Navigation Satellite System (GNSS), e.g. GPS, is a generic localization method for vehicles, but is vulnerable to the multi-path interference in the…
Accurate positioning is known to be a fundamental requirement for the deployment of Connected Automated Vehicles (CAVs). To meet this need, a new emerging trend is represented by cooperative methods where vehicles fuse information coming…
Optimal transport (OT) is a powerful tool for measuring the distance between two defined probability distributions. In this paper, we develop a new manifold named the coupling matrix manifold (CMM), where each point on CMM can be regarded…
For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…
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…
The demand for accurate localization has risen in recent years to enable the emerging of autonomous vehicles. To have these vehicles in the traffic ecosystem of smart cities, the need for an accurate positioning system is emphasized. To…
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining when the estimated position…
Vehicle positioning is considered a key element in autonomous driving systems. While conventional positioning requires the use of GPS and/or beacon signals from network infrastructure for triangulation, they are sensitive to multi-path and…
The idea of cooperative perception is to benefit from shared perception data between multiple vehicles and overcome the limitations of on-board sensors on single vehicle. However, the fusion of multi-vehicle information is still challenging…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…