GNSS-based vehicle state determination tailored to cooperative driving and collision avoidance

On the basis of a research project, the paper investigates vehicle trajectory estimation and prediction against the background of cooperative driving for the purpose of collision avoidance. For this reason, a low-cost single-frequency GNSS equipment is used and the vehicle state is processed applying Precise Point Positioning (PPP). Within a Kalman filter, the PPP solution is coupled with signals of in-car sensors like wheel sensors to derive position accuracies of a few decimetres. A lane-level map matching onto a digital road map complements the state determination. The strategy and the outcome of the positioning tool are tailored to the use of Car2Car communication and the requirements of performing collision prediction.