High-accuracy vehicle position estimation using a cooperative algorithm with anchors and probe vehicles

This paper describes a method for achieving highway lane differentiation without requiring expensive global navigation receivers in every vehicle. Accurate lane identification can be used to optimize transportation network safety, by improving a vehicle´s ability to avoid collision and to safely complete lane-change maneuvers. Using a cooperative technique, each vehicle communicates with road infrastructure and nearby connected vehicles to achieve sub-meter lane identification. We assume that a small subset of vehicles have high-accuracy GPS localization, which we refer to as probe vehicles. Other vehicles use location information from the probe vehicles and fixed infrastructure anchors to improve their position estimates.