A Simplified Message-Passing Strategy for Localization in Vehicular Networks

This work presents a distributed message-passing (MP) strategy for cooperative localization of autonomous vehicles in vehicle-to-everything (V2X) networks. The reliability of vehicular localization requires vehicles to accurately estimate their locations without the dependency on a centralized manager or powerful computational resource. A simplified MP technique that parameterizes the probability distributions of vehicles’ locations in terms of pairs of average and accuracy is developed to meet these goals. The evaluation of the developed strategy shows that the localization is carried out in sufficient quality, with additional insights regarding appropriate settings for usage of cooperative localization.