In ITS research field, recently a lot of efforts have been made to develop driving safety support systems (DSSS) for car drivers such as warning to drivers “danger” in potential blind spots at intersections. In this paper, we propose a localization method to estimate the movement trajectories (position, speed and direction) of pedestrians near intersections by using some roadside anchors. In our method, we assume that each pedestrian is equipped with a small device which periodically emits a radio beacon signal and each roadside anchor can receive the signal and measure its received signal strength (RSS). Our method estimates the pedestrian position from RSS at each anchor based on the Maximum Likelihood Estimation (MLE) method. Moreover, to obtain an accurate pedestrian trajectory, our method applies the Bayes’ theorem to a series of estimated positions and reduces estimation errors caused by uncertainty from radio interference and other factors. Through computer simulations with RapLab, we confirmed that our method estimates pedestrian positions within 2m error.
2009-10-27Range-Based Localization for Estimating Pedestrian Trajectory in Intersection ith Roadside Anchors
1. 30, Oct, 2009 1 Range-Based Localization for Estimating Pedestrian Trajectory in Intersection with Roadside Anchors Weihua Sun* Hirozumi Yamaguchi** Keiichi Yasumoto** Minoru Ito* *Nara institute of Science and Techonology **Osaka University
2. 30, Oct, 2009 2 Position, Velocity, Direction Position, Velocity, Direction ◆ Overview 事故防止を目的とした歩行者・二輪車の移動軌跡推定法の提案 歩行者・二輪車を発見し、位置・移動軌跡を特定 ・複数のアンカーによりターゲットの移動軌跡を推定 ターゲット:歩行者・二輪車。ビーコンを連続的に発信するデバイスを所持 アンカー:停止中の車両。ターゲットから送られるビーコンの電波強度を測定することでその軌跡を推定