Distributed Vehicle Cooperative Positioning Method Based on Delay Error Compensation

High-precision positioning is the basis for autonomous vehicles to realize modules such as perception and planning. Aiming at the problem of low positioning accuracy of global satellite navigation system and existing single vehicle positioning methods, a distributed cooperative positioning method based on delay error compensation is proposed in V2V network environment. First, a GNSS denoising filter and cooperative positioning filter are designed, and implemented in a loosely coupled manner. Next, a communication delay error compensation method is proposed, and the measurement equation is reconstructed. Then, based on the transmission delay data collected by the test site, the optimal delay distribution model is fitted. Finally, the simulation and real vehicle test environments are built, respectively, and effect of communication delay is demonstrated. The proposed method can effectively reduce the influence of communication delay and run stably in various road environments.