Design and Numerical Implementation of V2X Control Architecture for Autonomous Driving Vehicles

Abstract

This paper is concerned with designing and numerically implementing a V2X (Vehicle-to-Vehicle and Vehicle-to-Infrastructure) control system architecture for a platoon of autonomous vehicles. The V2X control architecture integrates the well-known Intelligent Driver Model (IDM) for a platoon of Autonomous Driving Vehicles (ADVs) with Vehicle-to-Infrastructure (V2I) Communication. The main aim is to address practical implementation issues of such a system as well as the safety and security concerns for traffic environments. To this end, we first investigated a channel estimation model for V2I communication. We employed the IEEE 802.11p vehicular standard and calculated path loss, Packet Error Rate (PER), Signal-to-Noise Ratio (SNR), and throughput between transmitter and receiver end. Next, we carried out several case studies to evaluate the performance of the proposed control system with respect to its response to: (i) the communication infrastructure; (ii) its sensitivity to an emergency, inter-vehicular gap, and significant perturbation; and (iii) its performance under the loss of communication and changing driving environment. Simulation results show the effectiveness of the proposed control model. The model is collision-free for an infinite length of platoon string on a single lane road-driving environment. It also shows that it can work during a lack of communication, where the platoon vehicles can make their decision with the help of their own sensors. V2X Enabled Intelligent Driver Model (VX-IDM) performance is assessed and compared with the state-of-the-art models considering standard parameter settings and metrics.

An Intelligent Security Classification Model of Driver’s Driving Behavior Based on V2X in IoT Networks

“…e Internet of vehicles system concept originated from the Internet of things, namely, the vehicle of the Internet of things, as in a moving vehicle information perception object, with the help of a new generation of information and communication technologies, realizes the car and X (that is, the car and the car, people, road, and service platform) between the network connections [1][2][3][4], improving the whole level of intelligent driving of vehicles. To provide users with safe, comfortable, intelligent, and efficient driving experience and traffic services, while improving the efficiency of traffic operation, improve the intelligent level of social traffic services.…”

“…Conduct intelligence classification for drivers' driving behavior. (3) In the V2X scenario, the driver behavior model and evaluation rules are integrated. When the driver makes unsafe behavior in the driving process, the system will give real-time warning.…”

Automated Driving with Cooperative Perception Based on CVFH and Millimeter-Wave V2I Communications for Safe and Efficient Passing through Intersections

“…The developed cooperative perception sends cooperative awareness messages (CAMs) encoded into CPMs to vehicles and the receiving vehicles know the location of the shared perceived objects. In [16], Dhawankar et al proposed a framework for a cooperative platoon of autonomous vehicles. The cooperative platoon is controlled by sharing periodic safety information such as traffic information under a channel estimation model for V2I communication using IEEE 802.11p.…”

TAKEN: A Traffic Knowledge-Based Navigation System for Connected and Autonomous Vehicles

“…Connected and autonomous vehicles (CAVs) are emerging as next-generation transportation in terms of growing connectivity and automation devices in vehicles [ 1 , 2 ]. Most modern cars have a dashboard and connectivity to the internet or personal devices enabling a wide range of traffic services for easing driving and travel for drivers [ 3 ].…”