Abstract
This work develops a distributed message-passing approach to cooperative localization for autonomous mobile vehicles that communicate via mm-wave wireless connection in vehicle-to-vehicle networks. Vehicles in the network obtain the measurement information about the relative distance and the angle of arrival from the mm-wave connections made with each other. Some vehicles may obtain knowledge about their absolute position information of different quality, for example, via additional localization feature. The main objective is to estimate the locations of all vehicles using reciprocal exchanges of simple information called a message in a distributed and autonomous way. A simulation is developed to examine the performance of the localization and navigation of vehicles under various network configurations. The results show that it does provide better positioning results in most cases and there are also several cases where the use of the cooperative technique adapts to design parameters such as accuracies of measurement equipment, and initial position estimates, that can affect the localization performance.
Highlights
With the recent introduction of 5th generation (5G) communication with low latency, large capacity, and high reliability characteristics, actual implementation of autonomous vehicles has been rendered more realistic [1]
Among the most important aspects of an autonomous vehicle, one very essential feature is the estimation of its position in a reliable and autonomous manner
A distributed method of the cooperative localization can adapt to a network of varying sizes because its local estimations involve only observations of a few neighboring units
Summary
With the recent introduction of 5th generation (5G) communication with low latency, large capacity, and high reliability characteristics, actual implementation of autonomous vehicles has been rendered more realistic [1]. ADMM updates the solution by using only average values of the probability distribution as position estimates, an extended technique that allows joint updates with the average and the accuracy for reliability adaptation for the position estimate is expected to improve the performance To this purpose, this work models a message-passing (MP) based technique that allows us to use all available measurement information for distributed cooperative localization. For a real-time deployment, this work proposes a novel modeling strategy that allows for the parametrization of complicated probability distributions for the position estimate and the its accuracy. In this technique, messages are calculated and exchanged cooperatively among neighboring vehicles to provide the estimate of the position with sufficient quality.
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