Aiming at the problem of high-precision location service of intelligent vehicle in the situation of weak or unavailable GPS signal(such as tunnel, underground parking lot, etc. ), this paper analyzed a kind of wireless positioning algorithm based on VANET, which used the information exchange between vehicles and intelligent subgrades to solve the problems of low effective accuracy and poor anti-interference ability in the existing vehicle positioning process. However, considering the dynamic changes of the network topology caused by vehicle movement, the existing researches often ignored the asymmetric communication delay between vehicles and intelligent subgrades, which led to the over-simplification of the cooperative positioning model and the loss of vehicle positioning accuracy. By describing the asymmetric communication model between vehicle and intelligent roadbed, it analyzed and verified the divergence of the existing vehicle cooperative positioning algorithm from a mathematical perspective. The simulation results show that the positioning error of the vehicle converges gradually without considering the asymmetric communication delay, but it shows exponential oscillation divergence with considering the asymmetric delay.

[2021-02-05] Printed Article /doc/2019.12.0687/v2