Radio‐Based Positioning and Video‐Based Positioning

This chapter provides an overview of state‐of‐art radio‐ and image‐based positioning tailored to the localization of connected autonomous vehicles. It evaluates the achievable accuracy of video‐based vehicle positioning. Therefore, the accuracy achieved in the 5GCAR Lane Merge Coordination use case, using a set of monocular cameras for vehicle positioning, is compared to the accuracy achieved in literature. The chapter addresses the technology and performance requirements of legacy solutions along with the details of time‐based, angular‐based, and video‐based positioning. Some of the proposed methods closely follow the long term evolution and the new radio standards; others show more innovative solutions that can achieve a high level of accuracy. Video‐based positioning requires additional infrastructure (camera installation), but the camera locations are flexible. In the 5GCAR project, a mast with 10 m height is chosen for installation. Finally, the chapter concludes with a comprehensive set of simulations highlighting the pros and cons of each solution.