V2X-Communication-Aided Autonomous Driving: System Design and Experimental Validation.

Area of Science:

• Autonomous Driving Systems
• Intelligent Transportation Systems
• Vehicle-to-Everything (V2X) Communication

Background:

• Autonomous driving research aims to improve road safety and traffic efficiency.
• Vehicle-to-Everything (V2X) communication technology offers advantages for automated vehicles.
• Current systems face limitations in perception, planning, and control.

Purpose of the Study:

• To present a novel V2X communication-aided autonomous driving system.
• To integrate beyond line-of-sight (BLOS) perception, extended planning, and control subsystems.
• To demonstrate the system's effectiveness in real-world autonomous driving scenarios.

Main Methods:

• Developed a BLOS perception subsystem fusing on-board sensors and V2X data for enhanced environmental awareness.
• Implemented extended planning algorithms utilizing real-time V2X traffic information for route, velocity, and behavior adjustments.
• Integrated the proposed system into a full-scale vehicle for testing in a controlled environment (K-city).

Main Results:

• The V2X-aided autonomous driving system successfully completed all assigned real-life missions.
• Missions included emergency braking, detouring, traffic signal compliance, collision avoidance, and yielding to emergency vehicles.
• Demonstrated effective environmental perception and decision-making using V2X communication.

Conclusions:

• The proposed V2X communication-aided autonomous driving system is feasible and effective.
• V2X technology significantly enhances the capabilities of autonomous vehicles in complex scenarios.
• This research highlights potential applications of V2X for future autonomous driving systems.