V2V collaborative relative positioning system

A collaborative GPS system:

• a V2V communication system exchanging V2V messages within a cluster;
• a processor identifying a respective vehicle having a highest GPS trust factor among the cluster, the processor adjusting GPS data of the host vehicle as a function of a GPS position of the identified vehicle and relative position data between the host vehicle and the identified vehicle, wherein the processor identifying the respective vehicle having the highest GPS trust factor includes the processor identifying a confidence level of each vehicle's GPS data from each received V2V message, the processor comparing the confidence levels associated with the GPS data of each vehicle in the cluster as received in each V2V message, the processor determining a plurality of vehicles having a same confidence level among the respective vehicles having a highest confidence level within the cluster, and wherein the processor averages the GPS data of the respective vehicles identified as having the same confidence level;
• and
• on-board sensing devices measuring a distance to each vehicle having the same confidence level;
• wherein the processor determines an accuracy radius associated with each vehicle having a same confidence level, the accuracy radius being a radius of a circular region around each vehicle where each location within the accuracy radius represents a true position of the vehicle based on the confidence level, the processor identifying respective remote vehicles where a distance to each respective remote vehicle is less than the accuracy radius of each remote vehicle respectively, and wherein the GPS data of a host vehicle and the GPS data of each remote vehicle identified as having their distance to the remote vehicle less than the accuracy radius of each remote vehicle are averaged;
• wherein the V2V communication system broadcasts the adjusted GPS data.