2021/08/10 by Mai Hirata, Hirata, Mai, Manabu Tsukada +9
Engineering · #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #Robotics (cs.RO) #Traffic control and management #Transportation and Mobility Innovations
paper · pdf · doi:10.48550/arxiv.2108.04629
openalex publication_date 2021/08/10 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Cooperative intelligent transportation systems (ITS) are used by autonomous vehicles to communicate with surrounding autonomous vehicles and roadside units (RSU). Current C-ITS applications focus primarily on real-time information sharing, such as cooperative perception. In addition to real-time information sharing, self-driving cars need to coordinate their action plans to achieve higher safety and efficiency. For this reason, this study defines a vehicle's future action plan/path and designs a cooperative path-planning model at intersections using future path sharing based on the future path information of multiple vehicles. The notion is that when the RSU detects a potential conflict of vehicle paths or an acceleration opportunity according to the shared future paths, it will generate a coordinated path update that adjusts the speeds of the vehicles. We implemented the proposed method using the open-source Autoware autonomous driving software and evaluated it with the LGSVL autonomous vehicle simulator. We conducted simulation experiments with two vehicles at a blind intersection scenario, finding that each car can travel safely and more efficiently by planning a path that reflects the action plans of all vehicles involved. The time consumed by introducing the RSU is 23.0 % and 28.1 % shorter than that of the stand-alone autonomous driving case at the intersection.