Device, system and method, in a vehicle communication system, of generating a location by the use of combining the rough locations of a “consensus set” of vehicles within wireless communication range to produce more accurate locations of the vehicles in the consensus set. Unique features of some embodiments include the continual re-computation and re-adjustment of both the vehicles in the consensus set and the more accurate locations. Embodiments use sensors on a first vehicle, such as cameras, sonar, radar and LIDAR to determine the relative location of the second vehicle to the first vehicle. Embodiments use this relative location in the computation of the more accurate locations. Algorithms are described for the computation, communication, convergence and updating of the more accurate locations. Algorithms are described for generation and update of the consensus set.