The present invention refers to an autonomous road transport system based on autonomous vehicles operating similarly to trains on railways. In this system, a regular road vehicle, such as a car, bus or truck, can be properly equipped with sensors and computers to drive itself, guided by virtual tracks …

Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best localization systems based on GNSS cannot always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. …