LAUSR

Currently, vehicle incidence remains high, but the related research is mainly focused on single-vehicle collision warning, which is unable to notice the following multiple endangered vehicles in emergency. The main technical challenge of chain collision warning is accurate and seamless ranging or positioning of the neighboring multiple vehicles. Because of the non-line of sight (NLOS) environments, the traditional ultrasonic or laser method does not work. At the same time, the accuracy of global navigation satellite system (GNSS) is over 10 m, such as global positioning system (GPS) or BeiDou satellite positioning system (BDS), which is not efficient for the cooperative collision avoidance (CCA) system. Moreover, GNSS fails to operate in NLOS tunnels or downtown areas where blockage of satellite signals is frequent. Thus, in this paper, a seamless and high accuracy positioning method based-on three kind of multi-source information fusion is proposed, i.e., the high accuracy local positioning information is provided by IEEE 802.11p protocol, the dual-mode wide area differential positioning information provided by the fusion of BDS and GPS, the positioning information of dead reckoning provided by the fusion of on-board diagnostic (OBD) and micro-electro-mechanical system-inertial navigation system. In vehicle positioning system, the accurate time of arrival (TOA) estimation is very important, so in this paper, a two steps method for TOA estimation using the IEEE 802.11p short preamble is proposed. Simulations show that in both the international telecommunication union vehicular multipath channel and the additive white Gaussian noise channel, the proposed method provides better accuracy and is less time complex than some well-known methods. The estimated TOA fused with the GNSS and OBD information can be used for seamless and high accuracy positioning in the CCA system to avoid traffic accident.