Vehicles relative positioning based on ZigBee and GPS technology

摘要

Traditional on-board sensors such as camera, radar and LiDAR (light detection and ranging) cannot fully perceive surrounding environment or function well under severe weather like V2V technology does. For instance, millimeter wave radar based adaptive cruise control system does not perform well when host vehicle is driving from straight line into a curve. Forward collision warning system becomes invalid once encountering heavy fog or heavy snow weather. In contrast, V2V technology is not only applicable to various weather but also with further detecting range than radar and LiDAR, which seems more attractive and feasible to handle more types of driving circumstances. This paper first tested GPS positioning accuracy under campus environment, then used ZigBee to exchange information (speed, heading and brake status, etc.) between vehicles, and eventually this paper accomplished relative positioning by combining GPS and V2V technologies.