Systems and methods for distributed cooperative localization in a connected vehicular platform

A non-transitory computer-readable medium for distributed cooperative localization in a connected vehicular platform and storing instructions that when executed by one or more processors cause the one or more processors to:

• receive, at a first sensor-rich vehicle from a second sensor-rich vehicle with which the first sensor-rich vehicle is in direct vehicle-to-vehicle (V2V) communication, an estimated location of the first sensor-rich vehicle and a confidence level associated with the estimated location of the first sensor-rich vehicle;
• estimate, at the first sensor-rich vehicle, a location of the second sensor-rich vehicle based on first sensor data and assigning, at the first sensor-rich vehicle, a confidence level to the estimated location of the second sensor-rich vehicle;
• transmit, from the first sensor-rich vehicle to the second sensor-rich vehicle via direct V2V communication, the estimated location of the second sensor-rich vehicle and the confidence level assigned to the estimated location of the second sensor-rich vehicle;
• accept, at the first sensor-rich vehicle based on communication between the first and second sensor-rich vehicles and predetermined acceptance criteria, an assignment to perform localization for a legacy vehicle;
• estimate, at the first sensor-rich vehicle, a location of the legacy vehicle based on second sensor data;
• and
• transmit, from the first sensor-rich vehicle to the legacy vehicle, the estimated location of the legacy vehicle.

A method of distributed cooperative localization in a connected vehicular platform, the method comprising:

• receiving, at a first sensor-rich vehicle from a second sensor-rich vehicle with which the first sensor-rich vehicle is in direct vehicle-to-vehicle (V2V) communication, an estimated location of the first sensor-rich vehicle and a confidence level associated with the estimated location of the first sensor-rich vehicle;
• estimating, at the first sensor-rich vehicle, a location of the second sensor-rich vehicle based on first sensor data and assigning, at the first sensor-rich vehicle, a confidence level to the estimated location of the second sensor-rich vehicle;
• transmitting, from the first sensor-rich vehicle to the second sensor-rich vehicle via direct V2V communication, the estimated location of the second sensor-rich vehicle and the confidence level assigned to the estimated location of the second sensor-rich vehicle;
• accepting, at the first sensor-rich vehicle based on communication between the first and second sensor-rich vehicles and predetermined acceptance criteria, an assignment to perform localization for a legacy vehicle;
• estimating, at the first sensor-rich vehicle, a location of the legacy vehicle based on second sensor data;
• and
• transmitting, from the first sensor-rich vehicle to the legacy vehicle, the estimated location of the legacy vehicle.