A Unified Multiple-Target Positioning Framework for Intelligent Connected Vehicles
Journal article, 2019

Future intelligent transport systems depend on the accurate positioning of multiple targets in the road scene, including vehicles and all other moving or static elements. The existing self-positioning capability of individual vehicles remains insufficient. Also, bottlenecks in developing on-board perception systems stymie further improvements in the precision and integrity of positioning targets. Vehicle-to-everything (V2X) communication, which is fast becoming a standard component of intelligent and connected vehicles, renders new sources of information such as dynamically updated high-definition (HD) maps accessible. In this paper, we propose a unified theoretical framework for multiple-target positioning by fusing multi-source heterogeneous information from the on-board sensors and V2X technology of vehicles. Numerical and theoretical studies are conducted to evaluate the performance of the framework proposed. With a low-cost global navigation satellite system (GNSS) coupled with an initial navigation system (INS), on-board sensors, and a normally equipped HD map, the precision of multiple-target positioning attained can meet the requirements of high-level automated vehicles. Meanwhile, the integrity of target sensing is significantly improved by the sharing of sensor information and exploitation of map data. Furthermore, our framework is more adaptable to traffic scenarios when compared with state-of-the-art techniques.

high-definition map

intelligent and connected vehicles


intelligent transport system

vehicular localization

target positioning


Zhongyang Xiao

Tsinghua University

Diange Yang

Tsinghua University

Fuxi Wen

Tsinghua University

Chalmers, Electrical Engineering, Communication and Antenna Systems, Communication Systems

Kun Jiang

Tsinghua University


1424-8220 (ISSN) 1424-3210 (eISSN)

Vol. 19 9

Massive MIMO location for 5G networks, MassLOC

European Commission (Horizon 2020), 2017-04-18 -- 2019-04-13.

Subject Categories

Computer Engineering

Embedded Systems

Signal Processing

Areas of Advance

Information and Communication Technology






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