Cooperative Localization For Autonomous Vehicles By Dynamic Information Sharing

The recent development and installation of 5G networks,in parallel with the popularization of autonomous driving vehicles.Many manufacturers are aspiring to realize autonomous driving cars to the market,this entails having a firm infrastructure to support this technology.Hence,positioning is a primary importance.Therefore,positioning of vehicles still remains a major challenge.Several methods for positioning have been put forth GNSS,cooperative localization etc.Novel methods like dynamic sharing has been welcome in the area of the autonomous driving vehicles.This paper explores localization for autonomous driving and belief propagation technics for cooperative localization.The main work carried out is using the posterior linearization belief propagation(PLBP)algorithm which consists of two parts:linearization and BP.In addition,simulations carried out to demonstrate the operation of this algorithm.Proving that the number of nodes does not affect root-mean-square error value.