International Journal of Distributed Sensor Networks

Forward collision warning systems, lane change assistants or cooperative adaptive cruise control are examples of safety relevant applications that rely on accurate relative positioning between vehicles. Current solutions estimate the position of an in-front driving vehicle by measuring the distance with a radar sensor, a laser scanner or a camera system. The perception range of these sensors can be extended by the exchange of GNSS information between the vehicles using an inter-vehicle communication link. One possibility is to transmit GNSS pseudorange and carrier phase measurements and compute a highly accurate baseline vector that represents the relative position between two vehicles. Solving for the unknown…