Abstract
The development of automated driving is actively progressing, and connected cars are also under development. Connected cars are the technology of connecting vehicles to networks so that connected vehicles can enhance their services. Safety services are among the main services expected in connected car society. Cooperative perception belongs to safety services and improves safety by visualizing blind spots. This visualization is achieved by sharing sensor data via wireless communications. Therefore, the number of visualized blind spots highly depends upon the performance of wireless communications. In this paper, we analyzed the required sensor data rate to be shared for the cooperative perception in order to realize safe and reliable automated driving in an intersection scenario. The required sensor data rate was calculated by the combination of recognition and crossing decisions of an automated driving vehicle to adopt realistic assumptions. In this calculation, CVFH was used to derive tight requirements, and the minimum required braking aims to alleviate the traffic congestion around the intersection. At the end of the paper, we compare the required sensor data rate with the outage data rate realized by conventional and millimeter-wave communications, and show that millimeter-wave communications can support safe crossing at a realistic velocity.
Highlights
Connecting automated driving vehicles with other devices such as vehicles and roadside units (RSUs) is a key technology to improve the safety of automated driving
Since our analysis focuses on the contribution of vehicle-to-infrastructure (V2I) communications to safe automated driving, we assumed that an RSU is set at the intersection and can always send sensor data to the ego vehicle
Since we focus on safe automated driving and tight requirements, we chose driving at a constant velocity which can be regarded as the average performance of driving with acceleration and deceleration
Summary
Connecting automated driving vehicles with other devices such as vehicles and roadside units (RSUs) is a key technology to improve the safety of automated driving. Connected vehicles can expand and develop services for vehicles such as safety services and infotainment services Among these services, we focused on the cooperative or collective perception which is one of the applications of the safety services to improve the safety of automated driving. In order to guarantee safe automated driving by cooperative perception, the shared amount of processed or raw sensor data and the rate of sharing required by safe automated driving must be clarified. The second aspect is showing the ability of millimeter-wave communications to support sharing raw sensor data for safe crossing.
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