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

Kaky, K.M.Bilgen, S.2025-06-152025-06-152025979833154454610.1109/ICMCR64890.2025.109632992-s2.0-105004646304https://doi.org/10.1109/ICMCR64890.2025.10963299https://hdl.handle.net/20.500.14517/8017IEEE; Jeju National University; Memorial UniversityThis 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. © 2025 IEEE.eninfo:eu-repo/semantics/closedAccessCellular-Vehicle-To-EverythingLocalization SystemNavigation Satellite SystemsRsuA Cooperative Positioning Method of Connected and Automated Vehicles With Fusion of Data Information of Direction-Of Relative Distance and Vehicles SpeedConference ObjectN/AN/A5762