Vehicle localization using cooperative RF-based landmarks

Besides the use for classical navigation applications, precise vehicle self-localization will be a key requirement for many future advanced driver assistance systems (ADAS). Current systems available do not provide the accuracy and availability needed for vehicle safety applications at reasonable sensor costs. This paper proposes a novel approach for vehicle self-localization using cooperative landmarks integrated into infrastructure. A prototype system, performing Angle-of-Arrival (AOA) and Round-Trip Time-of-Flight (RTOF) measurements at 2.4 GHz, was designed and integrated into a test vehicle. Based on experimental results, a robust position filter was derived. The system performance, tested at an urban crossing with two cooperative landmarks, demonstrated the feasibility of a low-cost localization system that achieves lane accurate positioning without dependence on satellite signals.