Enhanced Vehicle Positioning in Cooperative ITS by Joint Sensing of Passive Features
Paper in proceeding, 2018

Satellite-based navigation systems, such as Global Positioning System (GPS) or Galileo, are the most common and accessible techniques for vehicle positioning. However, in dense urban areas, even if combined with vehicle on-board sensors, they lead to large localization errors due to multipath and signal blockage. In recent years, Cooperative Intelligent Transportation Systems (C-ITSs) have gained increasing attention as they allow vehicles to cooperate and broadcast safety-related information to the neighbors through Vehicle-to-Vehicle (V2V) communications. In this paper, a novel cooperative positioning method is developed by exploiting V2V communications without using explicit V2V ranging. Vehicles localize, in a distributed way, a set of jointly sensed non-cooperative features (e.g., people, traffic lights) and use them as common noisy reference points to implicitly enhance their own position accuracy. Distributed belief propagation is combined with consensus-based estimation of the features' positions to enable cooperative localization of vehicles. Numerical results show that the proposed method is able to significantly enhance the GPS-based vehicle location accuracy, especially in scenarios with dense feature deployments.


Gloria Soatti

Polytechnic University of Milan

Monica Nicoli

Polytechnic University of Milan

Nil Garcia

Chalmers, Electrical Engineering, Communication, Antennas and Optical Networks

Benoit Denis

The French Alternative Energies and Atomic Energy Commission (CEA)

Ronald Raulefs

German Aerospace Center (DLR)

Henk Wymeersch

Chalmers, Electrical Engineering, Communication, Antennas and Optical Networks

IEEE International Conference on Intelligent Transportation Systems

Vol. 2018-March 1-6
978-153861525-6 (ISBN)

20th IEEE International Conference on Intelligent Transportation Systems, ITSC 2017
Kanagawa, Japan,

High precision positioning for cooperative ITS applications

European Commission (EC) (EC/H2020/636537), 2015-01-01 -- 2017-12-31.

COPPLAR CampusShuttle cooperative perception & planning platform

VINNOVA (2015-04849), 2016-01-01 -- 2018-12-31.

Areas of Advance

Information and Communication Technology


Subject Categories


Signal Processing



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