{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T21:54:17Z","timestamp":1766181257825,"version":"build-2065373602"},"reference-count":48,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2019,4,26]],"date-time":"2019-04-26T00:00:00Z","timestamp":1556236800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2018YFB0105000"],"award-info":[{"award-number":["2018YFB0105000"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61773234","U1864203"],"award-info":[{"award-number":["61773234","U1864203"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Tsinghua University and Toyota Joint Research Center for AI Technology of Automated Vehicle","award":["TT2018-02"],"award-info":[{"award-number":["TT2018-02"]}]},{"name":"International Science and Technology Cooperation Program of China","award":["2016YFE0102200"],"award-info":[{"award-number":["2016YFE0102200"]}]},{"name":"Beijing Municipal Science and Technology Program","award":["D171100005117001","Z181100005918001"],"award-info":[{"award-number":["D171100005117001","Z181100005918001"]}]},{"name":"European Commission H2020 Marie Sklodowska-Curie 333 project","award":["No. 700044"],"award-info":[{"award-number":["No. 700044"]}]},{"DOI":"10.13039\/501100011283","name":"State Key Laboratory of Automotive Safety and Energy","doi-asserted-by":"publisher","award":["KF1804"],"award-info":[{"award-number":["KF1804"]}],"id":[{"id":"10.13039\/501100011283","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Future intelligent transport systems depend on the accurate positioning of multiple targets in the road scene, including vehicles and all other moving or static elements. The existing self-positioning capability of individual vehicles remains insufficient. Also, bottlenecks in developing on-board perception systems stymie further improvements in the precision and integrity of positioning targets. Vehicle-to-everything (V2X) communication, which is fast becoming a standard component of intelligent and connected vehicles, renders new sources of information such as dynamically updated high-definition (HD) maps accessible. In this paper, we propose a unified theoretical framework for multiple-target positioning by fusing multi-source heterogeneous information from the on-board sensors and V2X technology of vehicles. Numerical and theoretical studies are conducted to evaluate the performance of the framework proposed. With a low-cost global navigation satellite system (GNSS) coupled with an initial navigation system (INS), on-board sensors, and a normally equipped HD map, the precision of multiple-target positioning attained can meet the requirements of high-level automated vehicles. Meanwhile, the integrity of target sensing is significantly improved by the sharing of sensor information and exploitation of map data. Furthermore, our framework is more adaptable to traffic scenarios when compared with state-of-the-art techniques.<\/jats:p>","DOI":"10.3390\/s19091967","type":"journal-article","created":{"date-parts":[[2019,4,26]],"date-time":"2019-04-26T07:52:59Z","timestamp":1556265179000},"page":"1967","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["A Unified Multiple-Target Positioning Framework for Intelligent Connected Vehicles"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0571-9156","authenticated-orcid":false,"given":"Zhongyang","family":"Xiao","sequence":"first","affiliation":[{"name":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Diange","family":"Yang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3686-1446","authenticated-orcid":false,"given":"Fuxi","family":"Wen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China"},{"name":"Department of Electrical Engineering, Chalmers University of Technology, SE-412 96 Gothenburg, Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kun","family":"Jiang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,4,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1109\/MCOM.2018.1701065","article-title":"A city-wide real-time traffic management system: Enabling crowdsensing in social internet of vehicles","volume":"56","author":"Wang","year":"2018","journal-title":"IEEE Commun. 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