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Cooperative Vehicle Ego-localization Application Using V2V Communications with CBL Clustering
Lucas RIVOIRARD a, Martine WAHL a, Patrick SONDI b, Marion BERBINEAU a, Dominique GRUYER c
a Univ Lille Nord de France, F-59000 Lille, IFSTTAR, COSYS, LEOST, F-59650 Villeneuve d’Ascq
b Univ. Littoral Côte d‘Opale, LISIC - EA 4491, F-62228 Calais, France
c IFSTTAR, COSYS, LIVIC, F-78000 Versailles, France
Vehicle to vehicule - V2V DECENTRALIZED
• Low cost deployment, integrated in the vehicle
• Collaborative ad hoc cooperative network
• Need to structure the network:
• Expensive deployment for road managers
• What happens if a terminal fails?
• Routing protocol for VANETs
• Pro-active distributed algorithm
• One-hop Clusters
Leaf node : an ordinary node that
links to the nearest branch node.
Branch node : a relay node
responsible of a group of leaf
nodes. Elected by other nodes to
forward application messages and
build a chain.
A chain: a virtual backbone
consisting of a set of relay nodes.
Objective: to offer, via V2V communication, a routing service enabling communications in close and
Objective: performance of the CBL scheme with CMM and DDGPS applications
• 10-km A27 highway section
• 4-km D90 by-way (2x1 lane)
• Traffic density recorded on
the A27 on April 6th, 2017,
• SUMO software generated
• Evaluation of CBL on other ITS applciations in VANETs, ex : extended perception
• A new CBL version with higher number of leaf nodes in clusters
Conclusion - performance CBL
• GPS Position improvement ranges from 30% to 75% according to the cluster sizes
• IP Delays are below 250 ms - PDR are higher than 92%
Vehicle to infrastructure - V2I CENTRALIZED
Our proposal: CBL (Chain Branch Leaf)
M. Rohani, D. Gingras, and D. Gruyer, “A Novel
Approach for Improved Vehicular Positioning
Using Cooperative Map Matching and Dynamic
Base Station DGPS Concept,” IEEE Transactions
on Intelligent Transportation Systems, vol. 17,
no. 1, p. 10, 2016.
• IEEE 802.11p
• OPNET Riverbed Modeler
Adaptation to CBL clustering scheme:
• Leaf nodes broadcast CMM message to their
• Branch nodes run both the CMM and DDGPS
applications to compute the correction data
• Branch nodes forward DDGPS messages to the
upstream branch nodes and their leaf nodes.
• “End-to-end delay” concerns the time
taken by a packet to reach its destination.
• Delays decrease when sending interval
• Delays are always below 250 ms in every
• The packet delivery ratio (PDR) ranges
from 92.5% to 95%.
• It is sensitive to the number of nodes and
the sending period.
Cooperative Vehicle Ego-localization Application
Using V2V Communications with CBL Clustering
Vehicular communication technologies
CMM and DDGPS algorithms for ego-localization on CBL
CMM: Cooperative Map Matching DDGPS: Dynamic base station Differential GPS
• For R1 scenario, a branch node receives CMM corrections
from 1 to 5 leaf nodes.
• The GPS biais estimation error in distance ranges from 13.2
m for 1 neighbor node to 9.2 m for 5 neighbor nodes; and the
standard deviation respectively varies from 5 m to 3.4 m.
• The precision improvement of node positions and the level
of confidence of this position increase with the number of the
nodes in each cluster.
GPS biais estimation error
Standard deviation of GPS
biais estimation error