Lightweight Cooperative Self-Localization as Support to Traffic Regulation for Autonomous Car Driving

摘要

Self-localization is a basic service for Intelligent Transportation Systems (ITS) such as traffic regulation services. Most of the used techniques are based on integration of Inertial Navigation System (INS) and Global Positioning System (GPS). However, navigation through areas such as tunnels, where GPS coverage is vulnerable, obliges the use of a different approach. Based on this observation, we designed and implemented a lightweight cooperative positioning algorithm based on Adaptive Localization Protocol (ALP). In this paper, we apply our method as support to an intersection service for traffic regulation, in which a group of concurrent cars shares an intersection/critical section. We found that our algorithm improves car position and regulates the traffic.