Vehicle Localization in Vehicular Networks

We propose a distributed algorithm that uses inter-vehicle distance estimates, made using a radio-based ranging technology, to localize a vehicle among its neighbours. Given that the inter-vehicle distance estimates contain noise, our algorithm reduces the residuals of the Euclidean distance between the vehicles and their measured distances, allowing it to accurately estimate the position of a vehicle within a cluster. In this paper, we show that our proposed algorithm outperforms previously proposed algorithms and present its performance in a simulated vehicular environment.