With the development of industries, we have realized the third industrial revolution. Following the development of Cyber-Physical Systems (CPS), industrial wireless network and some other enabling technologies, the fourth industrial revolution is being gradually rolled out. This paper presents an overview of the background, concept, basic methods, major technologies and application scenarios for industrie 4.0. In our view, industrie 4.0 as an abstract concept can closely integrate the physical world with virtual world. This strategy of industrie 4.0 will lead to more and more people coming to participate in the manufacturing process and further popularize our products through CPS technology. The typical approach for industrie 4.0 is the social manufacturing. In fact, the social manufacturing can directly link our customers' need and our industries, but it must be based on the enabling technologies, such as embedded systems, wireless sensor network, industrial robots, 3D printing, cloud computing, and big data. Therefore, this paper in detail explains these concepts, advantages and the relations to industries. We can foresee that our life will be changed to be more efficient, fast, safe and convenient due to the development of industrie 4.0 in the near future. I. I NTRODUCTION As we know, Germany has one of the most competitive manufacturing industries in the world. This is due to its ability to manage complex industrial process where different tasks are performed by different partners in different geographical locations. It has been successfully employing Information and Communication Technology (lCT) to do this for several decades. As we know, approximately 90 percent of all industrial manufacturing chains are already supported by ICT. The Information Technology (IT) evolution has brought about a radical transformation of the world in which we live and work, with an impact comparable to that of mechanization and electricity in the first and second industrial revolutions. The evolution of PCs into smart devices has been accompanied by a trend for more and more IT infrastructure and services to be provided through smart networks. In conjunction with ever greater miniaturization and the unstoppable march of the internet, this trend is ushering in a world where ubiquitous computing is becoming a reality. Powerful, autonomous microcomputers (e.g., embedded systems) are increasingly being wirelessly networked with each other and with the internet [1]. This has resulted in the convergence of the physical world and the virtual world (cyberspace) in the form of Cyber-Physical Systems (CPS) [2].

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As a result of the imprecise positioning accuracy, the satellite-based positioning system cannot offer the reliable and continuous positioning service for vehicular active safety application or vehicle monitoring in urban center with dense buildings or underground. With the advent of Vehicle Ad hoc Network (VANET), the Roadside Unit (RSU) can be considered as an anchor or base station to offer positioning reference. The ground-based positioning solution can help us acquire more precise position information through many times interaction, but multiple communications will result in heavy burden for network and more energy consumption. In this paper, we firstly analyze the pros and cons of representative algorithm, i.e., Symmetric Double SideTwo way Ranging (SDS-TWR). Then, we propose a novel energy-saving One-Sided Synchronous Two-Way Ranging (OSS-TWR) algorithm to reduce the communication times, which gains lower energy consumption and better performance than SDS-TWR. The experiments verify the validity of our solution. Finally, we make a conclusion and discuss the future works of vehicular positioning.

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