Use of Rfid Tags as an Alternative to GPS in Autonomous Vehicle Report 2022

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USE OF RFID TAGS AS AN ALTERNATIVE
TO GPS IN AUTONOMOUS VEHICLE

ABSTRACT
This report proposes the usage of an RFID based positioning system which will be used as an
alternative means for GPS where the GPS services are not available or signals are poor. Using
this approach of positioning for the vehicles, the RFID tags will be installed at the surface of the
roads and the RFID tag readers will be installed at the base of the car. When the vehicle passes
over the tag, the reader which is located at the bottom of the car activates the tag which shared or
rather detects the tag with its details. In the tag, there are some information which can be read by
the reader. The tag information details are the information related to the position of the tag which
further translates to the position of the vehicle. In order to fill the gap which exists between the
tag, estimation technique has to be employed on the basis of the latest position which is updated
in the tag, this estimation can be best served using the kinematic integration algorithm. When the
vehicles decelerate or accelerates, the speed obviously will have to change, this change in speed
due to acceleration and deceleration will affect the accuracy of the method of estimation. This
error which exist can be removed or reduced by the calibration algorithm which is proposed in
this particular paper.

Table of Contents
ABSTRACT.....................................................................................................................................1
Table of Figures................................................................................................................................4
List Of Tables...................................................................................................................................4
CHAPTER ONE...............................................................................................................................5
1.0 INTRODUCTION......................................................................................................................5
1.1 Background Information.........................................................................................................5
1.2 Aim and Objectives................................................................................................................7
1.3 Research Brief.........................................................................................................................7
1.3.1 Project Overview..............................................................................................................7
1.3.2 Motivations......................................................................................................................7
1.3.3 Ideas and Research Priority..............................................................................................8
1.4 Project scope...........................................................................................................................8
1.5 Contribution............................................................................................................................8
1.6 Report Structure......................................................................................................................9
CHAPTER TWO............................................................................................................................11
2.0 LITERATURE REVIEW.........................................................................................................11
2.1 Introduction...........................................................................................................................11
2.2 Research Gap In Vehicles Positioning..................................................................................11

2.3 The Global Positioning System............................................................................................12
2.4 Related Studies.....................................................................................................................12
2.5 Self-Driving Locations.........................................................................................................17
CHAPTER THREE........................................................................................................................20
3.0 METHODOLOGY...................................................................................................................20
3.1 Introduction...........................................................................................................................20
3.2 Research Problem and Philosophical Questions...................................................................20
3.3 Selection of Research Methodology.....................................................................................20
3.4 The working of RFID-Based Positioning of Vehicles..........................................................21
3.5 Summary...............................................................................................................................24
CHAPTER FOUR..........................................................................................................................26
4.0 EXPERIMENTS.......................................................................................................................26
4.1 Introduction...........................................................................................................................26
4.2 Experimental Design.............................................................................................................26
4.2.1 Experimental verification Based on the Radar...............................................................27
4.2.2 Experimental verification based on the Photoelectric Switch........................................28
4.2.3 Experimental verification using the ns-2 simulation software.......................................29
4.3 Data Collection.....................................................................................................................29
4.3.1 Location Identification based on Dynamic Active RFID calibration............................30
4.3.2 LANDMARC algorithm................................................................................................30

4.3.3 Vehicle location system.................................................................................................31
4.3.4 RFID tags.......................................................................................................................31
4.3.5 Active tag.......................................................................................................................31
4.3.6 Controller components...................................................................................................33
4.3.7 Workflow of vehicle controller......................................................................................34
4.3.8 RFID in transportation...................................................................................................36
4.4 Data Analysis........................................................................................................................37
4.5 Summary...............................................................................................................................38
CHAPTER FIVE............................................................................................................................39
5.0 RESULTS.................................................................................................................................39
5.1 Introduction...........................................................................................................................39
5.2 Verification based on Radar.................................................................................................39
5.3 Using Photo Electric Switch.................................................................................................40
5.4 Discussion.............................................................................................................................41
CHAPTER SIX..............................................................................................................................43
6.0 CONCLUSION........................................................................................................................43
6.1 Conclusion............................................................................................................................43
6.2 Recommendation..................................................................................................................44
6.3 Future Work..........................................................................................................................44

Table of Figures
Figure 1: Layout of RFID tags and reader......................................................................................21
Figure 2: RFID tag, antenna, reader, and controller unit................................................................22
Figure 3: The connection of RFID reader and ECU.......................................................................23
Figure 4: Kinematic integration algorithm.....................................................................................23
Figure 5: Setup of experimental verification based on radar.........................................................27
Figure 6: Setup of experimental verification based on photoelectric switch.................................28
Figure 7: LANDMARC algorithm.................................................................................................30
Figure 8: Local information of a vehicle........................................................................................31
Figure 9: RFID tags........................................................................................................................32
Figure 10: RFID tags for positioning.............................................................................................32
Figure 11: How RFID works..........................................................................................................33
Figure 12: Vehicle controller architecture......................................................................................33
Figure 13: Workflow chart of vehicle controller............................................................................34
Figure 14: Tracking vehicle with RFID tags..................................................................................35
Figure 15: Results of experimental verification based on radar.....................................................38
Figure 16: Results of experimental verification based on photoelectric switch.............................39
List Of Tables
Table 1: Definition of the data stored in RFID tags.......................................................................22

CHAPTER ONE
1.0 INTRODUCTION
This is the first section of the report where the topic is introduced, a brief background information
related to the topic is introduced for the purpose of creating foundation of understanding the topic
under research. The main aim of carrying out research is also discussed, a brief information of the
work which is expected to be done in the report including the motivations, priorities, ideas as
well as the expected results are discussed. And finally the section ends with the contribution
which defined what the report will be adding to the existing manuscript.
1.1 Background Information
In early 2014, the depart of transportation in the united states announced officially of the decision
to adapt the vehicle to vehicle technology of communication for the vehicles which are light. This
came into its final implementation in around 10 years after where the department gave the
communication technology a clean bill of right for the cars to be able to communicate with each
other (Prinsloo & Malekian, 2016). At this time when the vehicle to vehicle communication
technology was getting track, the Global Positing system had also been in use for a couple of
years. So many applications of innovations had already been tested in this particular case,
including the cooperative collision warning, intersection movement assistance, intersection safety
support among other innovative applications which were present at that time (Xu, 2018). In this
particular applications, the real time positioning of vehicle was assumed in terms of the
algorithms as well as the protocol for the movement guidance, interaction with many other
vehicles as well as operational controls. This assumption is reasonable enough because the global
positioning system GPS technology is available widely and also affordable. Currently, so many

vehicles have already been equipped with GPS for the purpose of tracking as well as navigation.
However, the Global Positioning system based for the vehicles showed some limitations as the
connected vehicles were been advanced to the implementation of the real world as well as the
fact that the success of the other applications was depending heavily on the accuracy of the
position of the vehicles (Wiseman, 2018).
These limitations which was being faced by the GPS application includes poor or rather lack of
signals in some of the areas including the urban canyon and the accuracy of positioning in the
dynamic environment. In order to address the above named and mentioned limitation for the
GPS, the paper proposes an alternative supplementary but also independent approach which is the
Radio Frequency Identification RFID based vehicle positioning in order to facilitate the
connection of vehicles applications at those areas where the GPS services is either not reliable or
not available (Ali & Hussein, 2017). In this advanced moving world, every day is an innovation
day with new technologies. One of the latest technologies, is an autonomous vehicle or Self-
driving vehicle. World can get many benefits from self-driving vehicle as there will be no driver
one can travel and plan long journeys without any causalities and rest. As an autonomous vehicle
does not need any rest for travelling a long journey, other advantage with an autonomous vehicle
is children under eighteen years of age can travel and own their own car because they no need of
driving the car and they can travel where ever they want without any driver (Arthikeyani et al.
2018).
Self-driving vehicles rely on GPS tracking system for mapping the routes, which navigates the
vehicle to move from one location to the desired location. As nowadays, most of the vehicles and
drivers are using GPS tracking system to travel from one place to other by applications like i.e.;
google maps, Waze-route, Maps and many other applications are helping to travel with easy