Collaborative localization of a vehicle using radiolocation

A transmitter vehicle comprising:

• an ECU including machine executable instructions in non-transitory memory to perform a method comprising:
• estimating a localization for the transmitter vehicle, the localization comprising a location of the transmitter vehicle relative to a global reference frame;
• and
• transmitting a localization packet to one or more vehicle using wireless communication, the localization packet comprising the estimated localization of the transmitter vehicle and a transmission timestamp.

A computer-implemented method comprising:

• generating, by an ECU in a vehicle, a first localization estimate, the first localization estimate comprising a first location of the vehicle with respect to a global reference frame;
• receiving, by the ECU, one or more localization packets, each localization packet comprising a location of an associated transmitter vehicle with respect to the global reference frame and a transmission timestamp;
• determining, by the ECU, a relative location for the vehicle using radiolocation, the relative location comprising a location of the vehicle relative to the one or more transmitter vehicles;
• and
• refining, by the ECU, the first localization estimate, the refined localization estimate comprising a location of the vehicle with respect to the global reference frame.