Vehicle-to-vehicle communications via dedicatedshort-range-communication (DSRC) devices will enable safety applications such as cooperative collision warning. These devices use the IEEE 802.11p standard to support low-latency vehicleto-vehicle and vehicle-to-infrastructure communications. However, a major challenge for the cooperative collision warning is to accurately determine the location of vehicles. In this paper, we present a novel cooperative-vehicle-position-estimation algorithm which can achieve a higher accuracy and more reliability than the existing global-positioning-system-based positioning solutions by making use of intervehicle-distance measurements taken by a radio-ranging technique. Our algorithm uses signal-strengthbased intervehicle-distance measurements, vehicle kinematics, and road maps to estimate the relative positions of vehicles in a cluster. We have analyzed our algorithm by examining its performance-bound, computational-complexity, and communicationoverhead requirements. In addition, we have shown that the accuracy of our algorithm is superior to previously proposed localization algorithms.Index Terms-Dedicated short-range communication (DSRC), IEEE802.11p, localization, position estimation, vehicular networks, wireless access in vehicular environment, wireless communication.

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We present a novel cooperative vehicle position estimation algorithm, which can achieve higher levels of accuracy and reliability than existing GPS based positioning solutions by making use of inter-vehicle distance measurements taken by a radio ranging technology. Our algorithm uses signal strength based inter-vehicle distance measurements, road maps, vehicle kinematics, and Extended Kalman Filtering to estimate relative positions of vehicles in a cluster. We have preformed analysis of our algorithm examining its performance bounds, computational complexity and communication overhead requirements. Also, we have shown that the accuracy of our algorithm is superior to previous proposed localization algorithms. 1