Hybrid positioning system for determining a precise position of a vehicle

A method of determining a precise position of a vehicle by a hybrid positioning system, the method comprising:

• receiving, by one or more controllers from a plurality of surrounding vehicles, relative position measurements that are each indicative of a position of one of the plurality of surrounding vehicles relative to the vehicle, wherein the relative position measurements are received by the one or more controllers in real-time;
• receiving, by the one or more controllers, a precise global position of the vehicle and the plurality of surrounding vehicles from an edge positioning function of a cellular software defined network;
• and
• fusing together the relative position measurements and the precise global position of the vehicle to determine the precise position of the vehicle.

A hybrid positioning system for a vehicle, comprising:

• one or more controllers in wireless communication with a plurality of surrounding vehicles located in an environment surrounding the vehicle by a V2V communication network and a cellular software defined network including an edge positioning function by a V2N communication network, the one or more controllers executing instructions to:
• receive, from the plurality of surrounding vehicles, relative position measurements that are each indicative of a position of one of the plurality of surrounding vehicles relative to the vehicle, wherein the relative position measurements are received by the one or more controllers in real-time;
• receive a precise global position of the vehicle and the plurality of surrounding vehicles from the edge positioning function of the cellular software defined network, wherein the precise global position of the vehicle and the plurality of surrounding vehicles are holistically calculated based on a cooperative localization algorithm by the edge positioning function;
• and
• fuse together the relative position measurements and the precise global position of the vehicle to determine a precise position of the vehicle.