期刊
IEEE-ACM TRANSACTIONS ON NETWORKING
卷 29, 期 1, 页码 303-317出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TNET.2020.3032652
关键词
5G mobile communication; Reliability; Autonomous vehicles; Real-time systems; Safety; Junctions; Wireless fidelity; Autonomous vehicles; distributed control and coordination; network-based communication; 5G networks; performance measurements
Autonomous driving relies on sensing and decision-making technologies, with communication technologies extending vehicle awareness but also raising wireless networking issues. This research focuses on a control algorithm and communication paradigm over 5G networks for negotiating traffic junctions in urban areas. The proposed framework has been shown to converge in a finite time while ensuring communication reliability.
Autonomous driving is a safety critical application of sensing and decision-making technologies. Communication technologies extend the awareness capabilities of vehicles, beyond what is achievable with the on-board systems only. Nonetheless, issues typically related to wireless networking must be taken into account when designing safe and reliable autonomous systems. The aim of this work is to present a control algorithm and a communication paradigm over 5G networks for negotiating traffic junctions in urban areas. The proposed control framework has been shown to converge in a finite time and the supporting communication software has been designed with the objective of minimizing communication delays. At the same time, the underlying network guarantees reliability of the communication. The proposed framework has been successfully deployed and tested, in partnership with Ericsson AB, at the AstaZero proving ground in Goteborg, Sweden. In our experiments, three heterogeneous autonomous vehicles successfully drove through a 4-way intersection of 235 square meters in an urban scenario.
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