V2X通信と集合メンバーシップ推定による共有状況認識
Shared Situational Awareness with V2X Communication and Set-membership Estimation
V2X通信と集合メンバーシップ推定を組み合わせ、遮蔽や死角がある都市環境でも自動運転車の状況認識を安全保証付きで向上させるフレームワークを提案し、実車で検証した。
著者: Vandana Narri, Amr Alanwar, Jonas Mårtensson, Christoffer Norén, Karl Henrik Johansson
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The ability to perceive and comprehend a traffic situation and to estimate the state of the vehicles and road-users in the surrounding of the ego-vehicle is known as situational awareness. Situational awareness for a heavy-duty autonomous vehicle is a critical part of the automation platform and depends on the ego-vehicle's field-of-view. But when it comes to the urban scenario, the field-of-view of the ego-vehicle is likely to be affected by occlusion and blind spots caused by infrastructure, moving vehicles, and parked vehicles. This paper proposes a framework to improve situational awareness using set-membership estimation and Vehicle-to-Everything (V2X) communication. This framework provides safety guarantees and can adapt to dynamically changing scenarios, and is integrated into an existing complex autonomous platform. A detailed description of the framework implementation and real-time results are illustrated in this paper.
