System and method for vehicle path estimation using vehicular communication

A system for vehicle path estimation using a vehicular communication network, comprising:

• a plurality of remote vehicles configured for computer communication using the vehicular communication network;
• and
• a processor operably connected for computer communication with the plurality of remote vehicles, wherein the processor is configured to:
• receive a first set of position measurements about a first remote vehicle and a second set of position measurements about the first remote vehicle using the vehicular communication network;
• determine a path shape of an initial path estimate of the first remote vehicle, wherein the initial path estimate is based on the first set of position measurements;
• and
• determine a corrected vehicle path estimate of the first remote vehicle by fitting the second set of position measurements to the path shape of the initial path estimate.

A non-transitory computer-readable storage medium including instructions that when executed by a processor, causes the processor to:

• establish an operable connection for computer communication between a first remote vehicle and one remote vehicles using a vehicular communication network;
• receive a first set of position measurements about a position of the first remote vehicle and a second set of position measurements about the position the first remote vehicle from messages transmitted using the vehicular communication network;
• determine a path shape of an initial path estimate of the first remote vehicle, wherein the initial path estimate is based on the first set of position measurements;
• and
• determine a corrected vehicle path estimate of the first remote vehicle by translating the path shape of the initial path estimate to minimize a distance between the first set of position measurements and the second set of position measurements.