Road user positioning by RSSI combinations with pavement reflection at real intersection

We have developed a dedicated onboard “sensor” utilizing wireless communication devices for collision avoidance around road intersections. The “sensor” estimates the positions of transmitters on traffic participants by comparing the strengths of signals received by four ZigBee receivers installed at the four corners of observing vehicle. In our previous work, the “sensor” was proposed as an alternative tool for collision avoidance around intersections. Herein, we extend our previous work by considering a road surface reflection model to improve the estimation accuracy. By using this model, we succeeded in reducing the error mismatches between the observed data and the calibration data of the estimation algorithm. The validity of the reflection model is verified via FDTD electro-magnetic wave propagating simulation. The proposed system will be realized on the basis of these enhancements. In addition to these improvements, we performed experiments at real intersection using customized vehicle. We report the basic evaluation of the experimental results in this paper.