Cooperative Connected Smart Road Infrastructure and Autonomous Vehicles for Safe Driving

Zuoyin Tang, Jianhua He, Steven Knowles Flanagan, Phillip Procter, Ling Cheng
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Abstract

Connected vehicles (CV) and automated vehicles (AV) are promising technologies for reducing road accidents and improving road efficiency. Significant advances have been achieved for AV and CV technologies, but they both have inherent shortcomings such line of sight sensing for AV. Connected autonomous vehicles (CAV) has been proposed to address the problems through sharing sensing and cooperative driving. While the focus of the research on CAV has been on the vehicles so far, cooperative and connected smart road infrastructure can play a critical role to enhance CAV and safe driving. In this paper we present an investigation of connected smart road infrastructure and AVs (CRAV). We discuss the potentials and challenges of CRAV, then propose a scalable simulation framework for the CRAV to facilitate fast, economic and quantitative study of CRAV. A case study of CRAV on smart road side unit (RSU) assisted vulnerable road users (VRU) collision warning is conducted, where the identification of VRU such as pedestrians on the road by the AVs is compared with and without RSU assistance. The impact of the location of RSUs on avoiding potential collisions is evaluated for vehicles with different sensor configurations. Preliminary simulation results show that with the support of smart RSUs, the CAVs could be notified of the existence of the VRUs on the road by the RSUs much earlier than they can detect with their own onboard sensors, and collisions with VRUs can be reduced. This study demonstrates the effectiveness of the proposed CRAV simulation framework and the great potentials of CRAV.
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协同互联智能道路基础设施和自动驾驶汽车安全驾驶
网联汽车(CV)和自动驾驶汽车(AV)是减少道路事故和提高道路效率的有前途的技术。自动驾驶汽车(AV)和自动驾驶汽车(CV)技术已经取得了显著的进步,但它们都存在固有的缺陷,比如自动驾驶汽车的视线感知。人们提出了联网自动驾驶汽车(CAV),通过共享感知和协作驾驶来解决这些问题。虽然目前对自动驾驶汽车的研究主要集中在车辆上,但协同互联的智能道路基础设施对于提高自动驾驶汽车的性能和安全驾驶具有至关重要的作用。在本文中,我们提出了连接智能道路基础设施和自动驾驶汽车(CRAV)的研究。在此基础上,提出了一种可扩展的CRAV仿真框架,以促进对CRAV的快速、经济和定量研究。以智能路侧单元(RSU)辅助弱势道路使用者(VRU)碰撞预警的CRAV为例,比较了在有RSU辅助和没有RSU辅助的情况下,自动驾驶汽车对道路上行人等弱势道路使用者的识别情况。在不同传感器配置的情况下,评估了rsu位置对避免潜在碰撞的影响。初步仿真结果表明,在智能rsu的支持下,自动驾驶汽车可以比车载传感器更早地收到道路上有vru存在的通知,从而减少与vru的碰撞。该研究证明了所提出的CRAV仿真框架的有效性和CRAV的巨大潜力。
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