A Cooperative Positioning Method of Connected and Automated Vehicles with Fusion of Data Information of Direction-of-Arrival Relative Distance and Vehicles Speed

Abstract

This study explores the potential of cellular-vehicle-to-everything (C-V2X) wireless communications in enhancing AV localization in GNSS-deprived scenarios. Specifically, we propose CV2X- LOCA, a novel unit (RSU)-assisted cooperative localization substructure utilizing only C-V2X channel state information to achieve lane-level precision. CV2X-LOCA comprises four main components: a data processing module, environment parameter correction module, coarse positioning module, and vehicle trajectory filtering module, collectively addressing challenges in dynamic C-V2X networks. Through extensive modelling we demonstrate that CV2X-LOCA attains cutting-edge localization performance even in noisy conditions, with fast-moving vehicles and sparse RSU coverage. The findings offer valuable insights for transportation agencies to make informed decisions regarding cost-effective RSU deployment in the future.