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In this paper, a localization function for an autonomous vehicle (AV) is implemented in a cyber-physical laboratory test field. This function is adapted to the properties of the cyber-physical system and can be used in variety of projects of different domains, such as indoor road traffic simulation as well as in the context of Industry 4.0 applications. The great advantage of this feature is that the position of the AV platform can be determined in parallel by two different methods: a self-localization algorithm using sensors on the vehicle and through the sensor in the environment. These two data sources are transmitted via UDP in the CPS laboratory test field, which is used as the basis for the subsequent application (navigation).
Liu-Henke et al. (Thu,) studied this question.