English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Tools annual

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Presents the access of premium content as premium feature

Premium Content

Global: Zendy Plus annual

Global: Zendy Free Plan

Cooperative map matching (CMM) uses the Global Navigation Satellite System(GNSS) position information of a group of vehicles to improve the standalonelocalization accuracy. It has been shown, in our previous work, that the GNSSerror can be reduced from several meters to sub-meter level by matching thebiased GNSS positioning to a digital map with road constraints. While furthererror reduction is expected by increasing the number of participating vehicles,fundamental questions on how the vehicle membership within CMM affects theperformance of the CMM results need to be addressed to provide guidelines fordesign and optimization of the vehicle network. This work presents atheoretical study that establishes a framework for quantitative evaluation ofthe impact of the road constraints on the CMM accuracy. More specifically, aclosed-form expression of the CMM error in terms of the road constraints andGNSS error is derived based on a simple CMM rule. The asymptotic decay of theCMM error as the number of vehicles increases is established and justifiedthrough numerical simulations. Moreover, it is proved that the CMM error can beminimized if the directions of the roads on which the connected vehicles travelobey a uniform distribution. Finally, the localization accuracy of CMM isevaluated based on the Safety Pilot Model Deployment and Pillar dataset of AnnArbor traffic flow collected over three years period. The contributions of thiswork include establishing a theoretical foundation for CMM as well as providinginsight and motivation for applications of CMM.

The Impact of Road Configuration in V2V-based Cooperative Localization: Mathematical Analysis and Real-world Evaluation