An Efficient V2X Based Vehicle Localization Using Single RSU and Single Receiver
Artikel i vetenskaplig tidskrift, 2019

High accuracy vehicle localization information is critical for intelligent transportation systems and future autonomous vehicles. It is challenging to achieve the required centimeter-level localization accuracy, especially in urban or global navigation satellite system denied environments. Here we propose a vehicle-to-infrastructure (V2I)-based vehicle localization algorithm. First, it is low-cost and hardware requirements are simplified, the minimum requirement is a single roadside unit and single on-board receiver. Second, it is computationally efficient, the available V2I information is formulated as an over-determined system. Then, the vehicle position is estimated in a closed-form manner via the widely used weighted linear least squares (WLLS) method and meter level accuracy is achievable. Furthermore, the numerical performance of WLLS is consistent with the theoretical results in larger signal-to-noise ratio region.

Vehicle localization

roadside unit (RSU)

vehicle-to-everything (V2X)

linear least squares

vehicle-to-infrastructure (V2I)


Sugang Ma

Changan University

Fuxi Wen

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

Xiangmo Zhao

Changan University

Zhong Min Wang

Xi'an Institute of Posts and Telecommunications

Diange Yang

Tsinghua University

IEEE Access

2169-3536 (ISSN) 21693536 (eISSN)

Vol. 7 46114-46121 6287639


Europeiska kommissionen (EU) (EC/H2020/700044), 2017-04-18 -- 2019-04-13.


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