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Open AccessArticle

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

1
Unmanned System Research Group (USRG), Department Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon 305-338, Korea
2
Unmanned System Research Group (USRG), Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon 305-338, Korea
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(10), 2903; https://doi.org/10.3390/s20102903 (registering DOI)
Received: 10 April 2020 / Revised: 14 May 2020 / Accepted: 15 May 2020 / Published: 20 May 2020
(This article belongs to the Special Issue Sensor and Communication Systems Enabling Autonomous Vehicles)
In recent years, research concerning autonomous driving has gained momentum to enhance road safety and traffic efficiency. Relevant concepts are being applied to the fields of perception, planning, and control of automated vehicles to leverage the advantages offered by the vehicle-to-everything (V2X) communication technology. This paper presents a V2X communication-aided autonomous driving system for vehicles. It is comprised of three subsystems: beyond line-of-sight (BLOS) perception, extended planning, and control. Specifically, the BLOS perception subsystem facilitates unlimited LOS environmental perception through data fusion between local perception using on-board sensors and communication perception via V2X. In the extended planning subsystem, various algorithms are presented regarding the route, velocity, and behavior planning to reflect real-time traffic information obtained utilizing V2X communication. To verify the results, the proposed system was integrated into a full-scale vehicle that participated in the 2019 Hyundai Autonomous Vehicle Competition held in K-city with the V2X infrastructure. Using the proposed system, the authors demonstrated successful completion of all assigned real-life-based missions, including emergency braking caused by a jaywalker, detouring around a construction site ahead, complying with traffic signals, collision avoidance, and yielding the ego-lane for an emergency vehicle. The findings of this study demonstrated the possibility of several potential applications of V2X communication with regard to autonomous driving systems. View Full-Text
Keywords: autonomous driving system; V2X communication; intelligent transportation system; perception; planning; control autonomous driving system; V2X communication; intelligent transportation system; perception; planning; control
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Jung, C.; Lee, D.; Lee, S.; Shim, D.H. V2X-Communication-Aided Autonomous Driving: System Design and Experimental Validation. Sensors 2020, 20, 2903.

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