研究车联网中定位完整性监控，填补协作定位安全短板。
The Role of Integrity Monitoring in Connected and Automated Vehicles: Current State-of-Practice and Future Directions
- 分析现有定位完整性监控方法，聚焦车联网协作场景
- 发现当前研究对协同定位的完整性关注不足
- 提出未来方向，推动定位安全标准与基准测试
定位完整性指对导航系统性能的信任度。准确可靠的定位信息对于满足车联网（CAV）应用需求，特别是在安全关键场景中至关重要。接收机自主完整性监测（RAIM）及其变体已被广泛研究用于基于全球导航卫星系统（GNSS）的车辆定位，常与运动学（如里程计）和感知传感器（如摄像头）融合使用。然而，利用车联网（V2X）通信实现协作定位的完整性监控（IM）研究相对较少。本文综述了定位完整性监控领域的现有研究，识别出若干研究空白，特别关注协同完整性监测方法。同时，分析了关键汽车安全标准及公开的V2X数据集，以梳理当前研究重点并揭示关键缺口。最后，论文提出了有前景的未来方向，强调旨在推进和评估定位完整性的研究主题。
原文摘要 · Abstract (English)
Positioning integrity refers to the trust in the performance of a navigation system. Accurate and reliable position information is needed to meet the requirements of connected and Automated Vehicle (CAV) applications, particularly in safety-critical scenarios. Receiver Autonomous Integrity Monitoring (RAIM) and its variants have been widely studied for Global Navigation Satellite System (GNSS)-based vehicle positioning, often fused with kinematic (e.g., Odometry) and perception sensors (e.g., camera). However, integrity monitoring (IM) for cooperative positioning solutions leveraging Vehicle-to-Everything (V2X) communication has received comparatively limited attention. This paper reviews existing research in the field of positioning IM and identifies various research gaps. Particular attention has been placed on identifying research that highlights cooperative IM methods. It also examines key automotive safety standards and public V2X datasets to map current research priorities and uncover critical gaps. Finally, the paper outlines promising future directions, highlighting research topics aimed at advancing and benchmarking positioning integrity.
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