  In this paper, we proposed the Interpenetrating Cooperative Localization
(ICL) method to enhance the localization accuracy in dynamic connected vehicle
networks. This mechanism makes the information from one group of connected
vehicles interpenetrate to other groups without full communication between all
nodes, thus improving the utility of information in a low connected vehicle
penetration situation. We tested the approach using the dynamic traffic data
collected in the Safety Pilot Model Deployment program in Ann Arbor Michigan,
USA, with dynamic changing networks due to the traveling of vehicles and packet
drops of the Dedicated Short-Range Communication. Results show enhancement of
localization accuracy with errors reduced by up to 70 % even in complex dynamic
scenarios.
