INS/GPS localization for reliable cooperative driving

Cooperative driving improves vehicle safety and the driving experience by adapting the vehicle performance to the surrounding traffic. Communication of accurate and timely information obtained from multiple in-vehicle sensors, other vehicles and nearby infrastructure is essential to guarantee the robustness and reliable performance of the cooperative driving system. However, processing the information in cooperative systems is challenging because of the volume of the information, interaction of the vehicles, and increased sensitivity to reliable information due to potential liabilities and legal issues. In this research, we tackle the challenges associated with the reliability and accuracy of the vehicle position, velocity and attitude vector by fusing inertial navigation system (INS) and global positioning system (GPS) sensor data, resolving common GPS problems such as blockage and multipath. Being able to provide accurate and reliable sensor information is an important milestone in establishing a successful cooperative driving network.