Robust min-max localization a

Abstract

The advent of dedicated short range communication (DRSC) devices - which are designed to support vehicle-to-vehicle and vehicle-to-infrastructure communication - promises a wide set of new active safety applications (e.g. a cooperative collision warning system based on vehicle-to-vehicle communication). One of the fundamental challenges for realizing these systems is to accurately and reliably determine a vehicle's position with respect to its neighbours. We propose a distributed algorithm using inter-vehicle distance estimates to localize a vehicle among its neighbours. Given that the inter-vehicle distance measurements contain noise, we present a robust min-max optimization algorithm that precisely predicts the vehicle position within a cluster. Simulation studies show that our algorithm outperforms previously proposed localization schemes