An RSU-assisted localization method in non-GPS highway traffic with dead reckoning and V2R communications

Abstract

In highway environment, many safety-related applications demand localization. Currently, localization is usually achieved by on-vehicle GPS. However, it requires that each car has a GPS device, which increases vehicle's cost and restricts the scope of some applications to some extent. The road side unit (RSU) is a fix infrastructure to collect information, enhance road safety and indicate navigations, and will be furnished on the highway as well as urban environment in the near future. At the same time, the RSU can also be used to provide initial position to the driving-by vehicles because of its fixed position and high capacity of wireless transmission. In addition, the vehicle's velocity follows normal distribution and the trajectory is fixed by one-dimensional and straight-line highway path. Therefore, the dead reckoning can be used to compute the vehicle's current location after obtaining its initial position. In this paper, we propose an RSU-assisted localization method using dead reckoning and vehicle-to-RSU communications. Our method can be used in non-GPS highway traffic environment with high accuracy and feasibility.