A method comprising: scanning at least one radio frequency identification (RFID) tag to obtain an identifier of the RFID tag ; querying a database using the identifier of the at least one RFID tag to collect information about a location of the at least one RFID tag , wherein the information about the location of at the least one RFID tag comprises a latitude of the RFID tag, a longitude of the RFID tag and a height of the RFID tag; determining a bias of a vehicle relative to the location of the scanned at least one RFID tag , wherein determining the bias of the vehicle relative to the location of the scanned at least one RFID tag is based on the vehicle driving speed, vehicle heading, and a timestamp corresponding to when the at least one RFID tag was scanned; and calculating a location of the vehicle based on the bias, the location of the at least one RFID tag and an initial bias of the vehicle, wherein calculating the location of the vehicle comprises: when the at least one RFID tag consists of one RFID tag, determining the initial bias of the vehicle relative to the location of the scanned RFID tag based on an RFID reader detection range and the height of the RFID tag using the Pythagorean Theorem, and when the at least one RFID tag comprises two or more RFID tags, averaging the latitude of the at least one RFID tag and longitude of the at least one RFID tag and adding the bias of the vehicle to the average longitude and the average longitude. scanning at least one radio frequency identification (RFID) tag to obtain an identifier of the RFID tag ; querying a database using the identifier of the at least one RFID tag to collect information about a location of the at least one RFID tag , wherein the information about the location of at the least one RFID tag comprises a latitude of the RFID tag, a longitude of the RFID tag and a height of the RFID tag; determining a bias of a vehicle relative to the location of the scanned at least one RFID tag , wherein determining the bias of the vehicle relative to the location of the scanned at least one RFID tag is based on the vehicle driving speed, vehicle heading, and a timestamp corresponding to when the at least one RFID tag was scanned; and calculating a location of the vehicle based on the bias, the location of the at least one RFID tag and an initial bias of the vehicle, wherein calculating the location of the vehicle comprises: when the at least one RFID tag consists of one RFID tag, determining the initial bias of the vehicle relative to the location of the scanned RFID tag based on an RFID reader detection range and the height of the RFID tag using the Pythagorean Theorem, and when the at least one RFID tag comprises two or more RFID tags, averaging the latitude of the at least one RFID tag and longitude of the at least one RFID tag and adding the bias of the vehicle to the average longitude and the average longitude. when the at least one RFID tag consists of one RFID tag, determining the initial bias of the vehicle relative to the location of the scanned RFID tag based on an RFID reader detection range and the height of the RFID tag using the Pythagorean Theorem, and when the at least one RFID tag comprises two or more RFID tags, averaging the latitude of the at least one RFID tag and longitude of the at least one RFID tag and adding the bias of the vehicle to the average longitude and the average longitude. <EOS>