Abstract
Vehicle-to-Everything (V2X) communication enhances the capability of autonomous driving through better safety, efficiency, and comfort. In particular, sensor data sharing, known as cooperative perception, is a crucial technique to accommodate vulnerable road users in a cooperative intelligent transport system (ITS). In this paper, we describe a roadside perception unit (RSPU) that combines sensors and roadside units (RSUs) for infrastructure-based cooperative perception. We propose a software called AutoC2X that we designed to realize cooperative perception for RSPUs and vehicles. We also propose the concept of networked RSPUs, which is the inter-connection of RSPUs along a road over a wired network, and helps realize broader cooperative perception. We evaluated the RSPU system and the networked RSPUs through a field test, numerical analysis, and simulation experiments. Field evaluation showed that, even in the worst case, our RSPU system can deliver messages to an autonomous vehicle within 100 ms. The simulation result shows that the proposed priority algorithm achieves a wide perception range with a high delivery ratio and low latency, especially under heavy road traffic conditions.
Highlights
Road transport infrastructure is an essential part of modern human life
We described the field experiments conducted on the AutoC2X-based roadside perception unit (RSPU) system proposed in the study
The proposed system is independent of the access layer technologies, and we believe that the latency will be better using C-V2X or 5G
Summary
Road transport infrastructure is an essential part of modern human life. it currently poses many issues, such as accidents, high energy consumption, time loss, and CO2 emission.Intelligent Transportation System (ITS) objectives include road traffic optimization in terms of safety, efficiency, and comfort. Road transport infrastructure is an essential part of modern human life. It currently poses many issues, such as accidents, high energy consumption, time loss, and CO2 emission. At a more abstract level, standalone autonomous vehicles are not significantly different from conventional vehicles in that they merely replace human eyes, brain, arms, and legs with sensors, processors, and actuators. Both human drivers and autonomous vehicles share some limitations in terms of their capability of perception, planning, and control. With regard to perception capability, both eyes and sensors have very similar fields of view because they are both positioned on the vehicle, and heavy vehicles and buildings affect both in the same way by obstructing their line of sight (LOS)
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