No abstract

Three-dimensional (3D) maps have become a shared digital infrastructure for autonomous vehicles, especially in urban areas. Point Cloud Data (PCD) maps are used for scan matching to enable self-localization. Autonomous vehicles need to maintain PCD maps along with the destination that is often decided on demand and to keep the PCD map updated. In this paper, we propose a system that delivers PCD maps cached at roadside edges in real time. We implement the system in Autoware, an open-source software for autonomous driving. Subsequently, we evaluate whether the autonomous vehicle can simultaneously download the PCD map from its edge and enable self-localization. Our results show that autonomous vehicles can perform selflocalization while downloading the PCD map from the edge server. Additionally, we measure the download time with variable bandwidth and examine the bandwidth in which the selflocalization normally operates. In our results, the download time of the PCD map at 60 Mbps was 1.16 s at maximum, and it is indicated that 60 Mbps is the deadline for this system to work properly.

A cooperative intelligent transport system (C-ITS) uses vehicle-to-everything (V2X) technology to make selfdriving 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.