Realtime experiments in Markov-based lane position estimation using wireless ad-hoc network

This paper presents real-time experimental results for a new lane positioning system using Markov localization based on inter-vehicle communication. The proposed system uses low-cost GPS receivers to provide vehicle locations. The system also combines a low-pass Butterworth filter and a particle filter for GPS receiver noise rejection. To study the new lane positioning system, a multi-threaded program in C++, that enables the communication between vehicles and determines their lane positions in real-time, was developed. Experiments using this software validate the effectiveness of the lane positioning system.