Open Access Publications
Permanent URI for this collection
Open access publications by faculty, postdocs, and graduate students in the Department of Computer and Information Sciences.
Browse
Browsing Open Access Publications by Subject "autonomous driving"
Now showing 1 - 1 of 1
Results Per Page
Sort Options
Item Towards C-V2X Enabled Collaborative Autonomous Driving(IEEE Transactions on Vehicular Technology, 2023-08-14) He, Yuankai; Wu, Baofu; Dong, Zheng; Wan, Jian; Shi, WeisongIntelligent vehicles, including autonomous vehicles and vehicles equipped with ADAS systems, are single-agent systems that navigate solely on the information collected by themselves. However, despite rapid advancements in hardware and algorithms, many accidents still occur due to the limited sensing coverage from a single-agent perception angle. These tragedies raise a critical question of whether single-agent autonomous driving is safe. Preliminary investigations on this safety issue led us to create a C-V2X-enabled collaborative autonomous driving framework (CCAD) to observe the driving circumstance from multiple perception angles. Our framework uses C-V2X technology to connect infrastructure with vehicles and vehicles with vehicles to transmit safety-critical information and to add safety redundancies. By enabling these communication channels, we connect previously independent single-agent vehicles and existing infrastructure. This paper presents a prototype of our CCAD framework with RSU and OBU as communication devices and an edge-computing device for data processing. We also present a case study of successfully implementing an infrastructure-based collaborative lane-keeping with the CCAD framework. Our case study evaluations demonstrate that the CCAD framework can transmit, in real-time, personalized lane-keeping guidance information when the vehicle cannot find the lanes. The evaluations also indicate that the CCAD framework can drastically improve the safety of single-agent intelligent vehicles and open the doors to many more collaborative autonomous driving applications.