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Relative location information helps build vehicle topology maps. Such maps provide location information of nearby vehicles to drivers. In building a vehicle topology, one must consider various at-tacks on vehicular networks. Also the localization system should protect the drivers' identity privacy and make it difficult for the adversary to track vehicles. Many techniques have been proposed for relative positioning and location verification. Due to the high speed and the strict security requirements, the existing relative positioning and location verification techniques are not directly applicable to vehicular networks.
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