Abstract
Connected autonomous driving is considered as a potential way to improve traffic safety. However, when positioning information is delivered through network, the network time delay could result in additional positioning errors, which has been proved by the experiment done in this paper in XuChang automatic driving center that the influence of one-way time delay will lead to meter-scale positioning error. In this paper, we propose a positioning calibration mechanism for connected autonomous vehicles called PCM. PCM firstly estimates the network time delay and then saves the calibrated location information in the MEC server to reduce the positioning error caused by network time delay. Experiments in FangShan and XuChang automatic driving centers verify the performance of PCM, and the result shows that PCM can reduce the positioning error to centimeter-level. For example, under 100ms time delay, the average positioning error without PCM is 119.67cm, while the average positioning error with PCM is 3.03cm. Experimental results show that PCM can effectively reduce the positioning error caused by a one-way time delay to centimeter-level, which is strictly required for positioning autonomous vehicles in automatic driving.
Highlights
The idea of automatic driving has been grown for a long time
In this paper, we present a problem with the influence of network time delay on the positioning accuracy of automatic driving; that is, the location of the vehicle has changed when the Mobile Edge Computing (MEC) server receives the positioning message sent by the vehicle
Ignoring this problem will lead to a decrease in positioning accuracy, which will affect the safety and reliability of autonomous vehicles
Summary
The idea of automatic driving has been grown for a long time. The first widely recognized autonomous vehicle ‘‘Stanford Cart’’ [1] was born in 1961. The Inertial Measurement Unit (IMU) is needed to provide motion information (Speed, acceleration, direction angle, pitch angle, etc.) for vehicles in real-time This IMU-based integrated navigation system enables vehicles to maintain centimeter-level positioning accuracy when losing GPS signals within a short distance [8]. If the one-way delay is 10ms, which is a typical end-to-end delay of 5G [16], positioning error caused by this delay could be 16.7cm when the vehicle reaches 60km/h speed It means that by the time the MEC server receives positioning information uploaded by the vehicle, it has already moved 16.7cm forward. The PCM deployed on the MEC server can calibrate the vehicle’s position errors caused by information propagation delays. How to calculate the position of the vehicle by using its state information and one-way time delay
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