Towards C-V2X Enabled Collaborative Autonomous Driving

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Author(s)He, Yuankai
Author(s)Wu, Baofu
Author(s)Dong, Zheng
Author(s)Wan, Jian
Author(s)Shi, Weisong
Date Accessioned2023-11-30T21:24:11Z
Date Available2023-11-30T21:24:11Z
Publication Date2023-08-14
Description© 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This article was originally published in IEEE Transactions on Vehicular Technology. The version of record is available at: https://doi.org/10.1109/TVT.2023.3299844. This article will be embargoed until 08/14/2025.
AbstractIntelligent vehicles, including autonomous vehicles and vehicles equipped with ADAS systems, are single-agent systems that navigate solely on the information collected by themselves. However, despite rapid advancements in hardware and algorithms, many accidents still occur due to the limited sensing coverage from a single-agent perception angle. These tragedies raise a critical question of whether single-agent autonomous driving is safe. Preliminary investigations on this safety issue led us to create a C-V2X-enabled collaborative autonomous driving framework (CCAD) to observe the driving circumstance from multiple perception angles. Our framework uses C-V2X technology to connect infrastructure with vehicles and vehicles with vehicles to transmit safety-critical information and to add safety redundancies. By enabling these communication channels, we connect previously independent single-agent vehicles and existing infrastructure. This paper presents a prototype of our CCAD framework with RSU and OBU as communication devices and an edge-computing device for data processing. We also present a case study of successfully implementing an infrastructure-based collaborative lane-keeping with the CCAD framework. Our case study evaluations demonstrate that the CCAD framework can transmit, in real-time, personalized lane-keeping guidance information when the vehicle cannot find the lanes. The evaluations also indicate that the CCAD framework can drastically improve the safety of single-agent intelligent vehicles and open the doors to many more collaborative autonomous driving applications.
CitationY. He, B. Wu, Z. Dong, J. Wan and W. Shi, "Towards C-V2X Enabled Collaborative Autonomous Driving," in IEEE Transactions on Vehicular Technology, doi: 10.1109/TVT.2023.3299844.
ISSN1939-9359
URLhttps://udspace.udel.edu/handle/19716/33645
Languageen_US
PublisherIEEE Transactions on Vehicular Technology
KeywordsADAS
Keywordsautonomous driving
KeywordsC-V2X
Keywordscollaborative driving
Keywordscooperative driving
Keywordsedge computing
TitleTowards C-V2X Enabled Collaborative Autonomous Driving
TypeArticle
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