Road Nail: Intelligent road marking system testbed

In this paper we present Road Nail, an intelligent road marking system with the wireless network of signaling devices that are mounted near the road edge. "Nails" or signaling devices are autonomous nodes with capability to accumulate electrical energy into battery which is obtained from solar panels. In addition, the nodes exchange wireless messages, detect approaching vehicles and emit signalization light. We have built an experimental testbed that consists of 20 nodes and a cellular gateway. In this paper, implementation details of the above system, including extensive measurements and performance evaluations in realistic field deployments are presented.