Connected Reference Marker (Gen 2)


As a vital functional component in the Collaborative Automated Driving Systems (CADS), the Connected Reference Marker (CRM) System can efficiently and economically provide real-time lane-level location identification for the connected and automated vehicles (CAV). This project aims to develop, test, and validate the CRM’s technology, methodology, and prototype, as well as demonstrate the feasibility and practicability of deploying the CRM system in actual engineering projects.



  1. To design the system architecture of the CRMS for vehicle location identification.
  2. To build the hardware component of the CRM devices, computing server, communication device, and vehicle onboard unit (OBU).
  3. To test and calibrate the performance of distance measuring between UWB.
  4. To design the algorithm and apply the method of coordinate calculation for OBU using two, three, and four CRM devices.
  5. To test and calibrate the performance of coordinate calculation.
  6. To integrate the CRM-OBU-Cloud system and offer comprehensive localization services.
  7. To test the system in different scenarios, such as work zone areas and snow weather conditions.


System Architecture Design

The system for demonstration is composed of three components: the CRM system, the cloud service, and the road users. The CRM system is composed of a CRM group, a server, and an RSU. A cloud platform is the major component of the cloud service. The OBU on the vehicle is the major component of road users.

The CRMs in the CRM group measure the distances from the OBU. The server integrates the measured data and calculates the coordinate of the OBU, and stores the data to the could platform. The RSU receives the calculation results and transmits the data to the OBU. The OBU receives the data from the RSU and acquires data from the cloud platform.