Theoretical Limits on Cooperative Positioning in Mixed Traffic
Artikel i vetenskaplig tidskrift, 2019

A promising solution to meet the demands on accurate positioning and real-time situational awareness in future intelligent transportation systems (ITSs) is cooperative positioning, where vehicles share sensor information over the wireless channel. However, the sensing and communication technologies required for this will be gradually introduced into the market, and it is, therefore, important to understand what performance we can expect from cooperative positioning systems as we transition to a more modern vehicle fleet. In this paper, we study what effects a gradual market penetration has on cooperative positioning applications, through a Fisher information analysis. The simulation results indicate that solely introducing a small fraction of automated vehicles with high-end sensors significantly improves the positioning quality but is not enough to meet the stringent demands posed by safety critical ITS applications. Furthermore, we find that retrofitting vehicles with low-cost satellite navigation receivers and communication have marginal impact when the positioning requirements are stringent and that the longitudinal road position can be estimated more accurately than lateral.

Intelligent transportation systems

localization and mapping

cooperative perception

Cramer-Rao bounds

cooperative positioning


Erik M Steinmetz

Chalmers, Elektroteknik, Kommunikations- och antennsystem, Kommunikationssystem

Ragne Emardson

Högskolan i Borås

Fredrik Brännström

Chalmers, Elektroteknik, Kommunikations- och antennsystem, Kommunikationssystem

Henk Wymeersch

Chalmers, Elektroteknik, Kommunikations- och antennsystem, Kommunikationssystem

IEEE Access

2169-3536 (ISSN)

Vol. 7 49712-49725


Transportteknik och logistik

Övrig annan teknik




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