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Toward Collaborative Autonomous Driving: Simulation Platform and End-to-End System.

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    Collaborative autonomous driving enhances safety by optimizing information sharing. This study introduces V2Xverse simulation and CoDriving system, improving driving performance and reducing collisions.

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    Area of Science:

    • Autonomous Driving
    • Machine Learning
    • Communication Systems

    Background:

    • Vehicle-to-everything-aided autonomous driving (V2X-AD) shows promise for safer roads.
    • Current V2X-AD research lacks exploration of infrastructure and communication resource utilization for performance enhancement.
    • There is a need for collaborative autonomous driving systems that optimize information sharing.

    Purpose of the Study:

    • To develop a simulation platform (V2Xverse) for generating data and testing V2X-AD systems.
    • To introduce a comprehensive system (CoDriving) integrating V2X communication for enhanced autonomous driving.
    • To propose and evaluate a novel driving-oriented communication strategy for improved performance and efficiency.

    Main Methods:

    • Developed V2Xverse, a simulation platform with a data generation scheme, full-stack system deployment codebase, and closed-loop performance evaluation.
    • Introduced CoDriving, an end-to-end system integrating V2X communication with a novel strategy of complementing driving-critical regions using sparse perceptual cues.
    • Conducted comprehensive benchmarks using V2Xverse to analyze modular and closed-loop driving performance.

    Main Results:

    • CoDriving significantly improved the driving score by 62.49% compared to state-of-the-art methods.
    • CoDriving drastically reduced the pedestrian collision rate by 53.50%.
    • CoDriving demonstrated sustained performance superiority under dynamic communication constraints.

    Conclusions:

    • The V2Xverse platform provides a complete pipeline for collaborative autonomous driving research and development.
    • The CoDriving system effectively integrates V2X communication, enhancing driving performance and communication efficiency.
    • The proposed driving-oriented communication strategy is effective in improving safety and optimizing resource utilization in V2X-AD.