Discrete Dynamics in Nature and Society
Volume 2012 (2012), Article ID 941047, 15 pages
Research Article

Lane-Level Vehicle Trajectory Reckoning for Cooperative Vehicle-Infrastructure System

Key Laboratory of Road and Traffic Engineering of the Ministry of Education, Tongji University, 4800 Cao’an Road, Shanghai 201804, China

Received 11 September 2012; Revised 26 November 2012; Accepted 27 November 2012

Academic Editor: Wuhong Wang

Copyright © 2012 Yinsong Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a lane-level positioning method by trajectory reckoning without Global Positioning System (GPS) equipment in the environment of Cooperative Vehicle-Infrastructure System (CVIS). Firstly, the accuracy requirements of vehicle position in CVIS applications and the applicability of GPS positioning methods were analyzed. Then, a trajectory reckoning method based on speed and steering data from vehicle’s Control Area Network (CAN) and roadside calibration facilities was proposed, which consists of three critical models, including real-time estimation of steering angle and vehicle direction, vehicle movement reckoning, and wireless calibration. Finally, the proposed method was validated through simulation and field tests under a variety of traffic conditions. Results show that the accuracy of the reckoned vehicle position can reach the lane level and match the requirements of common CVIS applications.