A cooperative intelligent transport system (C-ITS) uses vehicle-to-everything (V2X) technology to make self-driving vehicles safer and more efficient. Current C-ITS applications have mainly focused on real-time information sharing, such as for cooperative perception. In addition to better realtime perception, self-driving vehicles need to achieve higher safety and efficiency by coordinating action plans. This study designs a maneuver coordination (MC) protocol that uses seven messages to cover various scenarios and an abstracted MC support service. We implement our proposal as AutoMCM by extending two open-source software tools: Autoware for autonomous driving and OpenC2X for C-ITS. The results show that our system effectively reduces the communication bandwidth by limiting message exchange in an event-driven manner. Furthermore, it shows that the vehicles run 15% faster when the vehicle speed is 30 km/h and 28% faster when the vehicle speed is 50 km/h using our scheme. Our system shows robustness against packet loss in experiments when the message timeout parameters are appropriately set.


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    Title :

    AutoMCM: Maneuver Coordination Service with Abstracted Functions for Autonomous Driving


    Contributors:


    Publication date :

    2021-09-19


    Size :

    3055901 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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