The realization of vehicle-to-everything (V2X) communication enhances the capabilities of autonomous vehicles in terms of 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 regard, open-source software plays a significant role in prototyping, validation, and deployment. Specifically, in the developer community, Autoware is a popular open-source software for self-driving vehicles, and OpenC2X is an open-source experimental and prototyping platform for cooperative ITS. This paper reports on a system named AutoC2X to enable cooperative perception by using OpenC2X for Autoware-based autonomous vehicles. The developed system is evaluated by conducting field experiments involving real hardware. The results demonstrate that AutoC2X can deliver the cooperative perception message within 100 ms in the worst case.
AutoC2X: Open-source software to realize V2X cooperative perception among autonomous vehicles
2020-11-01
15972967 byte
Conference paper
Electronic Resource
English
Unsettled Issues Regarding Autonomous Vehicles and Open-source Software
SAE Technical Papers | 2021
|Enhanced Cooperative Perception for Autonomous Vehicles Using Imperfect Communication
ArXiv | 2024
|CooPercept: Cooperative Perception for 3D Object Detection of Autonomous Vehicles
DOAJ | 2024
|Cooperative perception in autonomous ground vehicles using a mobile-robot testbed
IET | 2019
|