Precise　cooperative　localization　is　of　vital　importance　in　the　design　and　implementation　in　vehicle-to-vehicle　interconnection　(V2V),　vehicle-to-vehicle　test　equipment　(V2R)　interconnection,　and　vehicle-to-network　(V2N)　interconnection　systems.　The　main　challenge　is　the　communication　bandwidth　and　computation　resource　are　limited　and　frequent　data　sharing　procedure　causes　the　entire　system　to　fail.　To　address　the　shortcoming,　in　this　paper,　we　propose　a　cooperative　localization　algorithm　based　on　the　collaborative　communication　switching　in　a　vehicle-road　scenario,　which　achieves　low　computational　complexity,　easy　implementation,　robustness　and　reliability.　The　proposed　algorithm　can　be　applied　to　urban　standardized　roads,　rural　lanes,　open　roads,　etc.　©　2021　IEEE.