Improvement of Vehicle Positioning Using Car-to-Car Communications in Consideration of Communication Delay

Hidekata HONTANI  Yuya HIGUCHI  

IEICE TRANSACTIONS on Communications   Vol.E91-B    No.11    pp.3461-3468
Publication Date: 2008/11/01
Online ISSN: 1745-1345
DOI: 10.1093/ietcom/e91-b.11.3461
Print ISSN: 0916-8516
Type of Manuscript: Special Section PAPER (Special Section on Emerging Technologies for Practical Ubiquitous and Sensor Networks)
vehicle positioning,  GPS,  Kalman filter,  car-to-car communication,  communication delay,  

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In this article, we propose a vehicle positioning method that can estimate positions of cars even in areas where the GPS is not available. For the estimation, each car measures the relative distance to a car running in front, communicates the measurements with other cars, and uses the received measurements for estimating its position. In order to estimate the position even if the measurements are received with time-delay, we employed the time-delay tolerant Kalman filtering. For sharing the measurements, it is assumed that a car-to-car communication system is used. Then, the measurements sent from farther cars are received with larger time-delay. It follows that the accuracy of the estimates of farther cars become worse. Hence, the proposed method manages only the states of nearby cars to reduce computing effort. The authors simulated the proposed filtering method and found that the proposed method estimates the positions of nearby cars as accurate as the distributed Kalman filtering.