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Article

Networked Roadside Perception Units for Autonomous Driving

Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
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Sensors 2020, 20(18), 5320; https://doi.org/10.3390/s20185320
Received: 25 August 2020 / Revised: 14 September 2020 / Accepted: 15 September 2020 / Published: 17 September 2020
(This article belongs to the Special Issue Cooperative Perception for Intelligent Vehicles)
Vehicle-to-Everything (V2X) communication enhances the capability of autonomous driving through better safety, efficiency, and comfort. In particular, sensor data sharing, known as cooperative perception, is a crucial technique to accommodate vulnerable road users in a cooperative intelligent transport system (ITS). In this paper, we describe a roadside perception unit (RSPU) that combines sensors and roadside units (RSUs) for infrastructure-based cooperative perception. We propose a software called AutoC2X that we designed to realize cooperative perception for RSPUs and vehicles. We also propose the concept of networked RSPUs, which is the inter-connection of RSPUs along a road over a wired network, and helps realize broader cooperative perception. We evaluated the RSPU system and the networked RSPUs through a field test, numerical analysis, and simulation experiments. Field evaluation showed that, even in the worst case, our RSPU system can deliver messages to an autonomous vehicle within 100 ms. The simulation result shows that the proposed priority algorithm achieves a wide perception range with a high delivery ratio and low latency, especially under heavy road traffic conditions. View Full-Text
Keywords: cooperative ITS; autonomous vehicle; cooperative automated vehicles (CAV); V2X; cooperative perception; open-source software cooperative ITS; autonomous vehicle; cooperative automated vehicles (CAV); V2X; cooperative perception; open-source software
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MDPI and ACS Style

Tsukada, M.; Oi, T.; Kitazawa, M.; Esaki, H. Networked Roadside Perception Units for Autonomous Driving. Sensors 2020, 20, 5320. https://doi.org/10.3390/s20185320

AMA Style

Tsukada M, Oi T, Kitazawa M, Esaki H. Networked Roadside Perception Units for Autonomous Driving. Sensors. 2020; 20(18):5320. https://doi.org/10.3390/s20185320

Chicago/Turabian Style

Tsukada, Manabu, Takaharu Oi, Masahiro Kitazawa, and Hiroshi Esaki. 2020. "Networked Roadside Perception Units for Autonomous Driving" Sensors 20, no. 18: 5320. https://doi.org/10.3390/s20185320

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