Cooperative Automated Driving Use Cases for 5G V2X Communication

Self Cite

Vehicle-to-everything (V2X) communication is seen as one of the main enabling technologies for automated vehicles. Collective perception is especially promising, as it allows connected traffic participants to “see through the eyes of others” by sharing sensor-detected objects via V2X communication. Its benefit is typically assessed in terms of the increased object update rate, redundancy, and awareness. To determine the safety improvement thanks to collective perception, the authors introduce new metrics, which quantify the environmental risk awareness of the traffic participants. The performance of the V2X service is then analyzed with the help of the test platform TEPLITS, using real traffic traces from German highways, amounting to over 100 h of total driving time. The results in the considered scenarios clearly show that collective perception not only contributes to the accuracy and integrity of the vehicles’ environmental perception, but also that a V2X market penetration of at least 25% is necessary to increase traffic safety from a “risk of serious traffic accidents” to a “residual hypothetical risk of collisions without minor injuries” for traffic participants equipped with non-redundant 360° sensor systems. These results support the ongoing worldwide standardization efforts of the collective perception service.

Section: Collective Perceptionmentioning

confidence: 99%

Section: Testing Environmentmentioning

confidence: 99%

Section: Testing Environmentmentioning

confidence: 99%

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Collective Perception: A Safety Perspective

Schiegg

Llátser

Bischoff³

et al. 2020

Self Cite

“…Infrastructure-assisted CP is also part of the scope of Managing Automated Vehicles Enhances Network (MAVEN) [ 45 ], an EU funded project targeting traffic management solutions where CAVs are guided at signalised cooperative intersections in urban traffic environments [ 40 ]. Other CP related joint research projects include TransAID [ 46 ] and IMAGinE [ 47 ].…”

Section: Related Workmentioning

confidence: 99%

Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle Operations

Shan

Narula

Wong³

et al. 2020

Cooperative perception, or collective perception (CP), is an emerging and promising technology for intelligent transportation systems (ITS). It enables an ITS station (ITS-S) to share its local perception information with others by means of vehicle-to-X (V2X) communication, thereby achieving improved efficiency and safety in road transportation. In this paper, we present our recent progress on the development of a connected and automated vehicle (CAV) and intelligent roadside unit (IRSU). The main contribution of the work lies in investigating and demonstrating the use of CP service within intelligent infrastructure to improve awareness of vulnerable road users (VRU) and thus safety for CAVs in various traffic scenarios. We demonstrate in experiments that a connected vehicle (CV) can “see” a pedestrian around the corners. More importantly, we demonstrate how CAVs can autonomously and safely interact with walking and running pedestrians, relying only on the CP information from the IRSU through vehicle-to-infrastructure (V2I) communication. This is one of the first demonstrations of urban vehicle automation using only CP information. We also address in the paper the handling of collective perception messages (CPMs) received from the IRSU, and passing them through a pipeline of CP information coordinate transformation with uncertainty, multiple road user tracking, and eventually path planning/decision-making within the CAV. The experimental results were obtained with manually driven CV, fully autonomous CAV, and an IRSU retrofitted with vision and laser sensors and a road user tracking system.

“…Simulation results demonstrated the superiority of the proposed Stackelberg game-based power allocation scheme in comparison with the traditional power allocation strategy. Meanwhile, the proposed scheme achieved a better trade-off between economic profit and power consumption.Recently, there have been volumes of existing literature on V2X communications [5][6][7][8][9][10]. In [5], a cooperative automated driving (CAD) system based on collective perception and cooperative maneuver coordination was proposed, which could be applied to several use cases.…”

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confidence: 99%

Stackelberg Game-Based Power Allocation for V2X Communications

Zhang

Yin

2019

Ultra-reliable low-latency communication (URLLC) is one of the three usage scenarios anticipated for 5G, which plays an important role in advanced applications of vehicle-to-everything (V2X) communications. In this paper, the Stackelberg game-based power allocation problem was investigated in V2X communications underlaying cellular networks. Assuming that the macro-cellular base station (MBS) sets the interference prices to protect itself from the V2X users (VUEs), the Stackelberg game was adopted to analyze the interaction between MBS and VUEs, where the former acts as a leader and the latter act as followers. For MBS, we aimed at maximizing its utility from interference revenue while considering the cost of interference. Meanwhile, the VUEs aimed at maximizing their utilities per unit power consumption. We analyzed the Stackelberg model and obtained the optimal prices for MBS and optimal transmit powers for VUEs. Simulation results demonstrated the superiority of the proposed Stackelberg game-based power allocation scheme in comparison with the traditional power allocation strategy. Meanwhile, the proposed scheme achieved a better trade-off between economic profit and power consumption.Recently, there have been volumes of existing literature on V2X communications [5][6][7][8][9][10]. In [5], a cooperative automated driving (CAD) system based on collective perception and cooperative maneuver coordination was proposed, which could be applied to several use cases. The authors of [6] investigated the impact of the new radio (NR) flexible numerology on the cellular-vehicle-to-anything (C-V2X) autonomous access mode. The authors of [7] examined the possibility of using the V2X systems at sea and discussed the challenges. In [8,9], the performance comparison of IEEE 802.11p and C-V2X was presented. Moreover, the temporal and spatial dynamics of the V2X network were investigated in [10].In spite of the above attractive features and application scenarios, there are also a great number of problems in the coexistence of V2X communication and other networks, such as the resource allocation (RA), interference management on account of co-channel interference (CCI) caused by spectrum reuse. In order to solve these problems and achieve technical breakthroughs, several related works have been done in terms of RA, power control, congestion control, link scheduling, interference coordination, and so on [11][12][13][14][15][16][17][18][19][20][21][22][23]. The authors of [11] focused on the existing RA algorithms for V2X communications, and these algorithms were classified and compared with each other according to selected criteria. In [12,13], an RA problem among safety VUEs, non-safety VUEs, and conventional cellular UEs (CUEs) was studied. The authors of [14] proposed a novel hybrid scheme based on C-V2X technology to improve latency and reliability performance. A cooperative solution for V2X communications was proposed in [15], which could guarantee reliability and latency requirements for 5G enhanced V2X services. In [16], th...