Dynamic Object Map based architecture for robust CVS systems. University of Central Florida

Format:

Book

Conference/Event

Author/Creator:

Valiente, Rodolfo, author.

Contributor:

Mahmud, Syed

Pourmohammadi Fallah, Yaser

Raftari, Arash

Zaman, Mahdi

Conference Name:

WCX SAE World Congress Experience (2020-04-21 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2020

Summary:

Connected and Autonomous Vehicles (CAV) rely on information obtained from sensors and communication to make decisions. In a Cooperative Vehicle Safety (CVS) system, information from remote vehicles (RV) is available at the host vehicle (HV) through the wireless network. Safety applications such as crash warning algorithms use this information to estimate the RV and HV states. However, this information is uncertain and sparse due to communication losses, limitations of communication protocols in high congestion scenarios, and perception errors caused by sensor limitations. In this paper we present a novel approach to improve the robustness of the CVS systems, by proposing an architecture that divide application and information/perception subsystems. This architecture is enabled by a Dynamic Object Map (DOM) middle layer which uses the received data from HV local sensors and integrates it with the data received through wireless communication to track RVs and create a real-time dynamic map of HV's surrounding. The architecture is validated with simulations and in a real environment using a remote vehicle emulator (RVE), which allows the joint study of the CVS applications and its underlying communication system. Using the example of a forward collision warning algorithm we demonstrate the performance improvement potential of this approach

Notes:

Vendor supplied data

Publisher Number:

2020-01-0084

Access Restriction:

Restricted for use by site license