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We present a position estimation scheme for cars based on the integration of global positioning system (GPS) with vehicle sensors. The aim is to achieve enough accuracy to enable in vehicle cooperative collision warning, i.e., systems that provides warnings to drivers based on information about the motions of neighboring vehicles obtained by wireless communications from those vehicles, without use of ranging sensors. The vehicle sensors consist of wheel speed sensors, steering angle encoder, and a fiber optic gyro. We fuse these in an extended Kalman filter. The process model is a dynamic bicycle model. We present data from about 60 km of driving in urban environments including stops, intersection turns, U-turns, and lane changes, at both low and high speeds. The data show the filter estimates position, speed, and heading with the accuracies required by cooperative collision warning in all except two kinds …