  The emergence of the connected and automated vehicle (CAV) technology enables
numerous advanced applications in our transportation system, benefiting our
daily travels in terms of safety, mobility, and sustainability. However,
vehicular communication technologies such as Dedicated Short-Range
Communications (DSRC) or Cellular-Based Vehicle-to-Everything (C-V2X)
communications unavoidably introduce issues like communication delay and packet
loss, which will downgrade the performances of any CAV applications. In this
study, we propose a consensus-based motion estimation methodology to estimate
the vehicle motion when the vehicular communication environment is not ideal.
This methodology is developed based on the consensus-based feedforward/feedback
motion control algorithm, estimating the position and speed of a CAV in the
presence of communication delay and packet loss. The simulation study is
conducted in a traffic scenario of unsignalized intersections, where CAVs
coordinate with each other through V2X communications and cross intersections
without any full stop. Game engine-based human-in-the-loop simulation results
shows the proposed motion estimation methodology can cap the position
estimation error to 0.5 m during periodic packet loss and time-variant
communication delay.
