Influence of infrastructure antenna location and positioning system availability to open-road C-V2X supported Automated Driving

Matti Kutila, Xiaoyun Zhang (Corresponding author), Kimmo Kauvo, Victor Garrido Martinez, Juha Karppinen, Lasse Nykänen

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

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Automated driving has attracted enthusiasm worldwide with its potential to transform mobility and realize transport, economical and societal benefits. Gaining perspectives from previous V2X trials in 5G-Drive project, this paper is motivated to focus on two challenges encountered with LTE-V2X enabled automated driving: the impact of infrastructure antenna height in C-V2X supported automated driving and the influence of C-V2X in vehicle positioning, especially when satellite signals is unavailable. Two trials have been designed and performed in Finland, as an attempt to continue and examine the two LTE-V2X enabled automated driving use cases in previous V2X trials. The outcome shows C-V2X latency is affected when antenna height is low. Optimizing and configuring the antenna height is crucial in C-V2X enabled automated driving tests. Important lessons on RTK, Inertial and C-V2X enabled automated vehicle positioning are drawn from the trials, where the enhancement of C-V2X could be augmented by testing and strengthening the GNSS signals.
Original languageEnglish
Title of host publicationProceedings of IEEE 5G for Connected and Automated Mobility (CAM)
PublisherIEEE Institute of Electrical and Electronic Engineers
Number of pages4
Publication statusPublished - 21 May 2021
MoE publication typeA4 Article in a conference publication
EventIEEE 5G for CAM Connected and Automated Mobility: Online - Virtual, Brussels, Belgium
Duration: 11 May 202112 May 2021


ConferenceIEEE 5G for CAM Connected and Automated Mobility
Abbreviated titleIEEE 5G for CAM
Internet address


  • Automated driving
  • C-V2X
  • LTE-V2X
  • latency
  • antenna
  • GNSS
  • signal processing
  • positioning


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