No abstract

No abstract

Cooperative perception, or collective perception (CP), is an emerging and promising technology for intelligent transportation systems (ITS). It enables an ITS station (ITS-S) to share its local perception information with others by means of vehicle-to-X (V2X) communication, thereby achieving improved efficiency and safety in road transportation. In this paper, we present our recent progress on the development of a connected and automated vehicle (CAV) and intelligent roadside unit (IRSU). The main contribution of the work lies in investigating and demonstrating the use of CP service within intelligent infrastructure to improve awareness of vulnerable road users (VRU) and thus safety for CAVs in various traffic scenarios. We demonstrate in experiments that a connected vehicle (CV) can “see” a pedestrian around the corners. More importantly, we demonstrate how CAVs can autonomously and safely interact with walking and running pedestrians, relying only on the CP information from the IRSU through vehicle-to-infrastructure (V2I) communication. This is one of the first demonstrations of urban vehicle automation using only CP information. We also address in the paper the handling of collective perception messages (CPMs) received from the IRSU, and passing them through a pipeline of CP information coordinate transformation with uncertainty, multiple road user tracking, and eventually path planning/decision-making within the CAV. The experimental results were obtained with manually driven CV, fully autonomous CAV, and an IRSU retrofitted with vision and laser sensors and a road user tracking system.

This article presents a novel compiler framework for CUDA code generation. The compiler structure is designed to support autotuning, which employs empirical techniques to evaluate a set of alternative mappings of computation kernels and select the mapping that obtains the best performance. This article introduces a Transformation Strategy Generator, a meta-optimizer that generates a set of transformation recipes, which are descriptions of the mapping of the sequential code to parallel CUDA code. These recipes comprise a search space of possible implementations. This system achieves performance comparable and sometimes better than manually tuned libraries and exceeds the performance of a state-of-the-art GPU compiler.