Cloud-Assisted Cooperative Localization for Vehicle Platoons: A Turbo Approach

Liu, An; Lian, Lixiang; Lau, Vincent K. N.; Liu, Guanying; Zhao, Minjian

doi:10.1109/tsp.2020.2964198

Cited by 27 publications

(13 citation statements)

References 26 publications

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“…Assume that the open-loop state estimation error is subject to the dynamic model (3). Then, the error has a fully Gaussian PDF, and, similar to (21), the open-loop ACR can be recursively computed as (35) with Ȇ(δ 0 ) = 1, where P i , i = 1, 2, • • • , T, are the coefficients obtained by…”

Section: A Deviation Analysis Of the Conventional Methodsmentioning

confidence: 99%

“…We first use Algorithm 1, with the same parameters σ = 0.1 and N = 10 4 as PNM but with the lines 4-6 removed, to calculate the openloop predictive coefficients P i+1 . Then, (35) is recursively used to compute the transient ACR Ȇ(δ k ) for k = 1, 2, • • • , 5.…”

Section: B Accuracy Comparison: a Numerical Examplementioning

confidence: 99%

“…In this section, we conduct an experimental study of a leader-follower autonomous driving scenario to validate our theoretical results interpreted so far. The leader-follower scenario is a simplified case of the widely-used platooning model in autonomous driving [35]. As illustrated in Fig.…”

Section: Experimental Studymentioning

confidence: 99%

See 2 more Smart Citations

Average Communication Rate for Event-Triggered Stochastic Control Systems

Zhang¹,

Liu²,

Mamduhi³

et al. 2023

Preprint

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Quantification of the triggering rates of an eventtriggered stochastic system with deterministic thresholds is a challenging problem due to the non-stationary nature of the system's stochastic processes. A typical example is the computation of the average communication rate (ACR) of the networked event-triggered stochastic control systems (ET-SCS) of which the communication of the sensor network is scheduled by whether a system variable of interest exceeds predefined constant thresholds. For such a system, a closed-loop effect emerges due to the interdependence between the system variable and the trigger of communication. This effect, commonly referred to as side information by related work, distorts the stochastic distribution of the system variables and makes the ACR computation non-trivial. Previous work in this area used to over-simplify the computation by ignoring the side information and misusing a Gaussian distribution, which leads to approximated results. This paper proposes both analytical and numerical approaches to predict the exact ACR for an ET-SCS using a recursive model. Furthermore, we use theoretical analysis and a numerical study to qualitatively evaluate the deviation gap of the conventional approach that ignores the side information. The accuracy of our proposed method, alongside its comparison with the simplified results of the conventional approach, is validated by experimental studies. Our work is promising to benefit the efficient resource planning of networked control systems with limited communication resources by providing accurate ACR computation.

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Section: A Deviation Analysis Of the Conventional Methodsmentioning

confidence: 99%

Section: B Accuracy Comparison: a Numerical Examplementioning

confidence: 99%

See 1 more Smart Citation

Average Communication Rate for Event-Triggered Stochastic Control Systems

Zhang¹,

Liu²,

Mamduhi³

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…In the case multiple users are to be localized simultaneously, the proposed method can be applied independently by each individual user, based on the received downlink signals, as is currently done in LTE. Different levels of cooperation can be envisioned, including map sharing [43] and exploiting interuser correlations [44].…”

Section: Mapping and Localizationmentioning

confidence: 99%

5G Positioning and Mapping With Diffuse Multipath

Wen

Kulmer

Witrisal

et al. 2021

IEEE Trans. Wireless Commun.

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5G mmWave communication is useful for positioning due to the geometric connection between the propagation channel and the propagation environment. Channel estimation methods can exploit the resulting sparsity to estimate parameters (delay and angles) of each propagation path, which in turn can be exploited for positioning and mapping. When paths exhibit significant spread in either angle or delay, these methods break down or lead to significant biases. We present a novel tensorbased method for channel estimation that allows estimation of mmWave channel parameters in a non-parametric form. The method is able to accurately estimate the channel, even in the absence of a specular component. This in turn enables positioning and mapping using only diffuse multipath. Simulation results are provided to demonstrate the efficacy of the proposed approach.

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“…Various techniques have been proposed to improve vehicular positioning accuracy further to meet multivehicle cooperative control requirements [11][12][13][14][15]. Differential GNSS is proposed in [16] to achieve higher positioning accuracy by eliminating the common biases through a network of fixed reference stations.…”

Section: Introductionmentioning

confidence: 99%

A Cooperative Positioning Method of Connected and Automated Vehicles with Direction-of-Arrival and Relative Distance Fusion

Wang

Jin

et al. 2022

Mathematical Problems in Engineering

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The rapid development of science and technology has created favorable conditions for Connected and Automated Vehicles (CAVs). Accurate localization is one of the fundamental functions of CAV to realize some advanced operations such as vehicle platooning. However, complicated urban traffic environments, such as the flyover, significantly influence vehicular positioning accuracy. The inability of CAV to accurately perceive self-localization information has become an urgent issue to be addressed. This paper proposed a novel cooperative localization method by introducing the relative Direction-of-Arrival (DOA) and Relative Distance (RD) into CAV to improve the localization accuracy of CAV in the multivehicle environment. First, the three-dimensional positioning error model of the host vehicle concerning adjacent vehicles in azimuth angle and pitch angle and intervehicle distances under the vehicle-to-vehicle communication was established. Second, two least-squares estimation algorithms, linear and nonlinear, are established to decrease the position errors by combining relative DOA and RD measurement information. To verify the proposed algorithm's effect, the PreScan-Simulink joint simulation is carried out. The results show that the host vehicle's localization accuracy by the proposed method can be improved by 25% compared with direct linearization. Besides, by combining relative DOA and relative RD measurement, the locating capability of the least-square-based nonlinear optimization method can be enhanced by 22%.

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Cloud-Assisted Cooperative Localization for Vehicle Platoons: A Turbo Approach

Cited by 27 publications

References 26 publications

Average Communication Rate for Event-Triggered Stochastic Control Systems

Average Communication Rate for Event-Triggered Stochastic Control Systems

5G Positioning and Mapping With Diffuse Multipath

A Cooperative Positioning Method of Connected and Automated Vehicles with Direction-of-Arrival and Relative Distance Fusion

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