Centimeter-Grade Metropolitan Positioning for Lane-Level Intelligent Transportation Systems Based on the Internet of Vehicles

This paper presents a centimeter-grade metropolitan positioning (CGMP) framework for achieving lane-level localization through Internet of Vehicles (IoV) communications. The CGMP framework integrates vehicle-to-roadside (V2R) and vehicle-to-vehicle (V2V) communications with installed roadside/intersection cameras to provide positioning information to vehicles on the road. This framework can be used to estimate the precise position of a vehicle and detect the lane of each vehicle. The estimated positions and detected lanes can be broadcast to nearby vehicles through V2R and V2V communications. According to our review of relevant research, CGMP is the first positioning system to provide the following features: centimeter-grade positioning accuracy through IoV communications that can detect a vehicle's current lane; the employment of existing roadside/intersection cameras, thus keeping additional construction costs low; and an innovative infrastructure for the application of next-generation intelligent transportation systems that can enable lane-level traffic control, collision avoidance, and vehicle navigation. A prototype based on wireless access in vehicular environments/dedicated short-range communications is implemented to verify the feasibility and effectiveness of the proposed framework. The experimental results indicate that fully deployed CGMP can achieve centimeter-grade positioning accuracy with the error around 10 cm, and partially deployed CGMP can significantly reduce the positioning errors of existing localization methods.