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Toward Highly Automated Driving by Vehicle-to-Infrastructure Communications
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- Authors
- Samyeul Noh, Kyounghwan An, Wooyong Han
- Issue Date
- 2015-10
- Citation
- International Conference on Control, Automation and Systems (ICCAS) 2015, pp.2016-2021
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper presents a cooperative system by vehicle-to-infrastructure (V2I) communications that extends the range of environmental perception and improves the performance of situation awareness for highly automated driving. The paper consists of two steps: data fusion based situation awareness and distributed reasoning based situation assessment. The data fusion produces a V2I augmented map to provide a better understanding of driving situations by integrating road infrastructures with a high-precision map. The distributed reasoning evaluates a risky level of a current situation in terms of road infrastructures through the use of independent local experts which are distributed into lane-level local regions of the vehicle's surroundings. The recommendations for driving behaviors are determined by the combination of results from each expert. The system is tested and evaluated through in-vehicle tests on a highway test road to verify that it can determine appropriate reactions under road hazard situations, such as black ice and construction.