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文章目錄

• 前言
• 一、Cooperative Vehicle Positioning via V2V Communications and Onboard Sensors
• • 1.Abstract
  • 2. introduction
  • 3.step：
  • • 1.Preliminaries
    • 2.Cooperative positioning: principle and examples
    • 3. DESIGN DETAILS
    • 4.PERFORMANCE EVALUATION
  • 4. CONCLUSION

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前言

提示：本文是一些車路協(xié)同定位的英文文獻(xiàn)的總結(jié)筆記

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一、Cooperative Vehicle Positioning via V2V Communications and Onboard Sensors

tips：協(xié)同車輛定位通過V2V通信和機(jī)載傳感器（主要是針對v2v和車載傳感器）2011/09

1.Abstract

This paper presents a vehicular positioning system in which multiple vehicles cooperatively calibrate their positions and recognize surrounding vehicles with their GPS receivers and ranging sensors. The proposed system operates in a distributed manner and works even if all vehicles nearby do not or cannot participate in the system. Each vehicle acquires various pieces of positioning information with different degrees of accuracies depending on the sources and recency of information, and compiles them based on likelihood derived from estimated accuracies to minimize estimation errors. A simulation based performance evaluation given in the paper shows that the proposed system improves the estimation accuracy by 85% on average with respect to the standalone GPS receiver, and recognizes about 70% surrounding vehicles with an error of 1m.
分布式車輛定位系統(tǒng)，多輛車協(xié)同標(biāo)定其位置，并利用其GPS接收器和測距傳感器識別周圍車輛。每個車輛根據(jù)信息的來源和最近（上次的）獲取具有不同精確度的各種定位信息，并且基于從估計(jì)精確度導(dǎo)出的似然性來估計(jì)預(yù)測它們，以最小化估計(jì)誤差。
基于仿真的性能評估表明，相對于獨(dú)立的全球定位系統(tǒng)接收機(jī)，該系統(tǒng)的估計(jì)精度平均提高了85%，并且能夠識別大約70%的周圍車輛，誤差為1米。

2. introduction

positioning errors introduced by GPS receivers can be several times larger than that in urban areas with many obstacles to GPS receivers
（1）Some methods assume additional hardware such as Differential GPS, gyroscopes and acceleration sensors, and fuse the information to improve the position accuracy
（2）some other methods estimate relative positions of vehicles originating from position of a vehicle using information shared among vehicles via V2V communication
（3）In addition, some methods have been proposed to estimate driving lanes of vehicles by using onboard sensors and V2V communication
These existing methods can achieve sufficient accuracy to some ITS applications such as car navigation systems. However, it is difficult to satisfy more severe requirements in vehicle safety applications.（滿足精度，不滿足安全）
（4）some automotive companies commercialize safety systems such as Volvo’s Collision Warning with Auto Brake and Toyota’s Pre-Collision System
based on situation awareness. They utilize distances from surrounding obstacles obtained by ranging sensors such as millimeter wave radar and laser sensors. Some researches have also been proposed to improve situation awareness of vehicles using ranging sensors and V2V communications [11]. However, they do not consider how to share the information among vehicles to improve the recognition and position accuracy.
（一些汽車公司將安全系統(tǒng)商業(yè)化，如沃爾沃的自動剎車碰撞警告系統(tǒng)和豐田的基于情況意識的碰撞前系統(tǒng)。它們利用距離周圍障礙物的距離，這些距離是由毫米波雷達(dá)和激光傳感器等測距傳感器獲得的。還提出了一些研究來使用測距傳感器和V2V通信來提高車輛的態(tài)勢感知[11]。然而，他們沒有考慮如何在車輛之間共享信息以提高識別和定位精度。）

假設(shè)：
本文假設(shè)車輛都載有GPS，測距傳感器，如毫米波雷達(dá)傳感器和DSRC/WAVE通信設(shè)備。每輛車都與周圍的車輛共享來自GPS和測距傳感器的測量值，并使用不同車輛在不同時間的測量值更新位置。
We assume that some vehicles hold GPS receivers and ranging sensors such as millimeter wave radar sensors and DSRC/WAVE communication devices. Each vehicle shares measurements from GPS and ranging sensors with surrounding vehicles, and updates positions using the measurements by different vehicles at different times.

結(jié)論：為了減輕由隨時間衰減引起的具有大誤差的測量的影響，車輛估計(jì)每次測量的“精度”，并通過參考它來估計(jì)位置。此外，車輛基于中心極限定理估計(jì)估計(jì)位置的“準(zhǔn)確性”，以與周圍車輛共享最準(zhǔn)確的位置。從性能評估中，我們確認(rèn)我們的系統(tǒng)可以將車輛的位置誤差比獨(dú)立的GPS接收器平均減少85%，并且可以識別大約70%的周圍車輛，誤差為1米。
In order to mitigate the impact of the measurement with large error caused by decay with time, a vehicle estimates the “accuracy” for each measurement, and estimates the positions by reference to it. Also, a vehicle estimates the “accuracy” of estimated positions based on the Central Limit Theorem to share the most accurate positions with surrounding vehicles. From performance evaluation, we confirm that our system could reduce position error of vehicles by 85% on average from that of the standalone GPS receiver, and recognize about 70% of all surrounding vehicles with an error of 1m.

3.step：

1.Preliminaries

做一些必要的假設(shè)

2.Cooperative positioning: principle and examples

每個車保存附近車輛的數(shù)據(jù)，實(shí)時更新共享，來估計(jì)自己和其他人的位置
Each equipped vehicle holds positions of nearby vehicles,
and updates them every time slot. In order to update the
positions, each vehicle detects its surrounding vehicles as well
as its own GPS position and velocity. This information is
transmitted via a Basic Safety Message to its nearby vehicles.
On receiving each other’s GPS positions and relative positions,
each equipped vehicle estimates the current positions of its own
nearby vehicles.
該方法的目標(biāo)是允許裝備車輛(識別非裝備車輛的存在，以及(ii)比GPS和非裝備車輛更精確地估計(jì)裝備車輛的位置。為了實(shí)現(xiàn)第二個目標(biāo)，每個裝備的車輛使用來自不同車輛的多邊距離測量(即由距離傳感器帶來的相對位置信息)。這使得能夠使用附近車輛的全球定位系統(tǒng)位置作為“錨”，并且多邊定位減輕了這些“錨”最初包含的全球定位系統(tǒng)誤差。此外，可以探索這種多邊定位來探測未裝備的車輛，以實(shí)現(xiàn)第一個目標(biāo)。然而，由于位置估計(jì)的異步和分布式執(zhí)行，每個配備的車輛識別的**“車輛地圖”可能不同于其他**車輛。
The positioning consists of the following three steps: (1)
obtaining observations (GPS and range measurement), (2)
updating estimation from observations and (3) exchanging
messages.

3. DESIGN DETAILS

A. Obtaining observation (GPS and range measurement)
B. Updating estimation from observations
C. Message exchange

4.PERFORMANCE EVALUATION

A. Simulation settings
B. Simulation results

4. CONCLUSION

This paper has proposed a cooperative vehicle positioning system which provides accurate positions for ITS applications in real-time under the situation where some vehicles have GPS receivers and ranging sensors such as millimeter wave radar sensors and DSRC/WAVE communication devices. From performance evaluation, we confirmed that our system could reduce position errors of vehicles for average 85% and recognize 70% of all nearby vehicles with an error of less 1m. As our future work, we are planning to evaluate the performance of our system by using realistic scenarios.
本文提出了一種協(xié)同車輛定位系統(tǒng)，該系統(tǒng)在某些車輛具有全球定位系統(tǒng)接收機(jī)和測距傳感器(如毫米波雷達(dá)傳感器和DSRC/WAVE通信設(shè)備)的情況下，為智能交通系統(tǒng)的實(shí)時應(yīng)用提供精確的定位。從性能評估中，我們確認(rèn)我們的系統(tǒng)可以平均減少85%的車輛位置誤差，并識別70%誤差小于1米的所有附近車輛。作為我們未來的工作，我們計(jì)劃通過使用現(xiàn)實(shí)場景來評估我們系統(tǒng)的性能。

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