CPC G01S 19/45 (2013.01) [G01S 17/931 (2020.01); G08G 1/0116 (2013.01); G08G 1/0129 (2013.01); G08G 1/056 (2013.01); H04W 4/40 (2018.02)] | 18 Claims |
1. A vehicle for performing vehicle positioning, comprising:
a transceiver;
sensors; and
an onboard unit (OBU), programmed perform a position enhancement including to
track a first heading of a vehicle received via a global navigation satellite system (GNSS);
receive, via the transceiver, vehicle-to-everything (V2X) messages from a roadside unit (RSU), the V2X messages indicating a location of the RSU,
track a second heading of the vehicle according to the V2X messages;
perform a heading match between the first heading and the second heading; and
triggering performing the position enhancement to determine a corrected current position of the vehicle responsive to the headings differing by at least a threshold amount, the position enhancement including to:
utilize the sensors to capture sensor data of the RSU, and
update a current position of the vehicle to be the corrected current position of the vehicle based on the RSU as shown in the sensor data and the location of the RSU indicated in the V2X messages.
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