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

Table 1

Typical CVIS applications and positioning accuracy requirements.

Application	Location/direction	Accuracy requirements
✓ Route navigation	Vehicle heading	Road section level
✓ Optimal speed advisory	Vehicle heading	Lane level
✓ Automatic cruise	Vehicle heading	Lane level
✓ Lane change assist	Lane heading	Lane level
✓ Overtaking assist	Lane heading	Lane level
✓ Collision avoidance	At intersection	Lane level
✓ Active traffic control	At intersection	Lane level