Abstract
Cooperative localization under complex urban environments has become a solution able to replace Global Navigation Satellite System (GNSS) positioning. Due to the lack of an efficient cooperative localization scheme, traditional cooperative vehicle networks result in high computational complexity and heavy communication overhead. In this paper, we concentrate on the cooperative localization design of a vehicle. This paper proposes a cooperative localization method based on evolutionary coalitional game theory to implement vehicle location estimation with a lower communication cost. We select the neighboring vehicles to form a coalition based on the node’s square position error bound and communication cost. The location is obtained via exchanging information between vehicles. It is evident from the simulations and results that the proposed method requires a low communication overhead while maintaining localization accuracy.
Highlights
With the Intelligent Transportation System (ITS) developing rapidly, vehicle positioning technology has become a focus for autonomous driving applications [1,2]
The main contribution of this paper is to address the problem of the high computation complexity and communication cost for vehicle networks in cooperative localization
We focused on the limitations of cooperative localization in vehicle networks and proposed a fusion on framework based onofcooperative localization and in thevehicle n
Summary
With the Intelligent Transportation System (ITS) developing rapidly, vehicle positioning technology has become a focus for autonomous driving applications [1,2]. In these applications, the vehicle is generally located with Global Navigation Satellite Systems (GNSS). GNSS signals are usually poor in urban canyons and overpasses due to high-rise building occlusion and multipath issues. The demand for localization accuracy under dense and complex urban environments has become high. There are many novel localization methods used in vehicle networks to deal with complex urban environments. Visual localization is a standard technology used to match and predict vehicles’ positions via identifying and searching local features [3]. Radar technology is widely used in dual-functional radar communication (DFRC) systems
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