Internet of Vehicles has become a promising way to realize the evolution from vehicular ad hoc networks and nextgeneration intelligent transportation system into future autonomous driving scenarios, clean-energy intelligent vehicles, and Smart Cities. However, multicasting service messages on available service channels and periodic exchanges of beacon messages on control channel cause the problem of efficiently scheduling those messages via multichannel transmission for intelligent vehicle terminal, to support real-world applications in Internet of Vehicles scenario. In this article, we investigate the intelligent vehicle terminal architecture and, particularly, design the wireless communication board by incorporating multicasting and congestion control modules. Especially, we present a multicast data delivery scheme with random-delay lowest-cost constraint to transfer service messages on service channels. Furthermore, a priority-aware congestion control scheme is also proposed by considering differentiated priorities of beacon messages on control channel, to cope with the congestion problem at bottleneck vehicle node. Based on the proposed schemes, we build up the RanLow (Random-delay Lowest-cost) module and the priority-aware congestion control (PARCEL) module by enabling multicasting and congestion control together in wireless communication board of the intelligent vehicle terminal architecture. Finally, the experimental results and comparison show that our devised RanLow module and PARCEL module are feasible and more efficient than existing schemes.
: This paper has proposed a gap selection and path generation method during merging maneuver of automobile. In this method the merging problem of one merging vehicle and multiple main lane vehicles is formulated using a model predictive control method. Lanes of a motor way are approximated with proposed smooth lines. Assuming that the main lane vehicles run on the centerline of the main lane, an appropriate path of the merging vehicle can be simply designed and modified according to the motions of the main lane vehicles. To generate mild merging, accelerations of all the relevant vehicles are constrained. Effectiveness of the proposed method is validated by computer simulations of the merging maneuvers of one merging vehicle and two main lane vehicles in different conditions. An example of actual cooperative merging maneuver is generated by the proposed method. Further the collision avoidance ability and the initial condition dependent property of the proposed method are tested.
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