CV2X-LOCA: Roadside Unit-Enabled Cooperative Localization Framework for Autonomous Vehicles

• URL: http://arxiv.org/abs/2304.00676v1
• Date: Mon, 3 Apr 2023 01:35:54 GMT
• Title: CV2X-LOCA: Roadside Unit-Enabled Cooperative Localization Framework for Autonomous Vehicles
• Authors: Zilin Huang, Sikai Chen, Yuzhuang Pian, Zihao Sheng, Soyoung Ahn, and David A. Noyce
• Abstract summary: An accurate and robust localization system is crucial for autonomous vehicles (AVs) to enable safe driving in urban scenes. We investigate the potential of cellular-vehicle-to-everything (C-V2X) wireless communications in improving the localization performance of AVs under-denied environments. We propose the first roadside unit (RSU)-enabled cooperative localization framework, namely CV2X-LOCA, that only uses C-V2X channel state information to achieve lane-level positioning accuracy.
• Score: 1.6624933615451842
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: An accurate and robust localization system is crucial for autonomous vehicles (AVs) to enable safe driving in urban scenes. While existing global navigation satellite system (GNSS)-based methods are effective at locating vehicles in open-sky regions, achieving high-accuracy positioning in urban canyons such as lower layers of multi-layer bridges, streets beside tall buildings, tunnels, etc., remains a challenge. In this paper, we investigate the potential of cellular-vehicle-to-everything (C-V2X) wireless communications in improving the localization performance of AVs under GNSS-denied environments. Specifically, we propose the first roadside unit (RSU)-enabled cooperative localization framework, namely CV2X-LOCA, that only uses C-V2X channel state information to achieve lane-level positioning accuracy. CV2X-LOCA consists of four key parts: data processing module, coarse positioning module, environment parameter correcting module, and vehicle trajectory filtering module. These modules jointly handle challenges present in dynamic C-V2X networks. Extensive simulation and field experiments show that CV2X-LOCA achieves state-of-the-art performance for vehicle localization even under noisy conditions with high-speed movement and sparse RSUs coverage environments. The study results also provide insights into future investment decisions for transportation agencies regarding deploying RSUs cost-effectively.

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