简介：Vehicularnodepositioningneedstobequickandpreciseonhighwayforsafetyconsidera-tion.Inthispaper,wepresentanovelandpracticalvehicularnodepositioningmethodwhichcanachieveahigheraccuracyandmorereliabilitythantheexistingglobal-positioning-system-basedpo-sitioningsolutionsbymakinguseofDoppler-shiftedfrequencymeasurementstakenbyvehicularnodeitself.Thispositioningmethodusesinfrastructurenodeswhichareplacedontheroadsideeveryseveralkilometersasradiationsourcestoestimatetherelativedistancesofvehicletotheinfrastructurenode.Throughcoordinateconversion,wegettheabsolutecoordinatesofvehicularnodebasedonknownabsolutecoordinatesofinfrastructurenode.Wealsoanalyzetheoptimaldistanceofneighborinfra-structurenodesinordertoensureahighaccuracy.Inaddition,simulationresultsdemonstratethattheaccuracyofourmethodwithExtendedKalmanFiltering(EKF)issuperiortothemethodwithoutEKF.