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The demand for autonomous vehicles is increasing gradually owing to theirenormous potential benefits. However, several challenges, such as vehiclelocalization, are involved in the development of autonomous vehicles. A simpleand secure algorithm for vehicle positioning is proposed herein withoutmassively modifying the existing transportation infrastructure. For vehiclelocalization, vehicles on the road are classified into two categories: hostvehicles (HVs) are the ones used to estimate other vehicles' positions andforwarding vehicles (FVs) are the ones that move in front of the HVs. The FVtransmits modulated data from the tail (or back) light, and the camera of theHV receives that signal using optical camera communication (OCC). In addition,the streetlight (SL) data are considered to ensure the position accuracy of theHV. Determining the HV position minimizes the relative position variationbetween the HV and FV. Using photogrammetry, the distance between FV or SL andthe camera of the HV is calculated by measuring the occupied image area on theimage sensor. Comparing the change in distance between HV and SLs with thechange in distance between HV and FV, the positions of FVs are determined. Theperformance of the proposed technique is analyzed, and the results indicate asignificant improvement in performance. The experimental distance measurementvalidated the feasibility of the proposed scheme.

A New Vehicle Localization Scheme Based on Combined Optical Camera Communication and Photogrammetry