Abstract
The increasing risk to Vulnerable Road Users (VRUs) at urban intersections necessitates advanced safety mechanisms capable of operating effectively under diverse conditions, including adverse weather like heavy rain. While optical sensors such as cameras and LiDAR often degrade in poor visibility, Radio Frequency (RF)-based systems offer resilient, all-weather tracking. This paper presents a novel approach to enhancing VRU protection by fusing two RF modalities: radar sensors and Ultra-Wideband (UWB) technology, a strong candidate for Joint Communication and Sensing (JCS). The research, conducted as part of the VIDETEC-2 project, addresses the limitations of existing vehicle-based and infrastructure-based systems, particularly in scenarios involving occlusions and blind spots. By leveraging radar's environmental robustness alongside UWB's precise, cost-effective short-range communication and localization, the proposed system delivers the framework for continuous vehicle and VRU tracking. The fusion of these sensor modalities, managed through a hybrid Kalman filter approach integrating an Unscented Kalman Filter (UKF) and an Extended Kalman Filter (EKF), allows reliable VRU tracking even in challenging urban scenarios. The experimental results demonstrate a reduction in tracking uncertainty and highlight the system's potential to serve as a more accurate and responsive safety mechanism for VRUs at intersections. This work contributes to the development of intelligent road infrastructures, laying the foundation for future advancements in urban traffic safety.