Paper Abstract and Keywords |
Presentation |
2023-02-22 15:50
AutowareV2X: Enabling V2X Communication and Collective Perception for Autonomous Driving Yu Asabe, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki (UTokyo) ITS2022-77 IE2022-94 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
For cooperative intelligent transport systems (C-ITS), vehicle-to-everything (V2X) communication is utilized to allow autonomous vehicles to share critical information with each other. We propose AutowareV2X, an implementation of a V2X communication module that is integrated into the autonomous driving (AD) software, Autoware. AutowareV2X provides external connectivity to the entire AD stack, enabling the end-to-end experimentation and evaluation of connected autonomous vehicles. The Collective Perception Service was also implemented, allowing the transmission of Collective Perception Messages (CPMs). A dual-channel mechanism that enables wireless link redundancy on the critical object information shared by CPMs is also proposed. Performance evaluation in field experiments has indicated that the E2E latency of perception information is around 30 ms, and shared object data can be used by the AD software to conduct collision avoidance maneuvers. Dual-channel delivery of CPMs enabled the CAV to dynamically select the best CPM from CPMs received from different links, depending on the freshness of their information. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
V2X / Cooperative-ITS / Collective Perception Message / Autoware / Dual-channel Redundancy / / / |
Reference Info. |
IEICE Tech. Rep., vol. 122, no. 384, ITS2022-77, pp. 198-203, Feb. 2023. |
Paper # |
ITS2022-77 |
Date of Issue |
2023-02-14 (ITS, IE) |
ISSN |
Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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ITS2022-77 IE2022-94 |
Conference Information |
Committee |
IE ITS ITE-MMS ITE-ME ITE-AIT |
Conference Date |
2023-02-21 - 2023-02-22 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Hokkaido Univ. |
Topics (in Japanese) |
(See Japanese page) |
Topics (in English) |
Image Processing, etc. |
Paper Information |
Registration To |
ITS |
Conference Code |
2023-02-IE-ITS-MMS-ME-AIT |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
AutowareV2X: Enabling V2X Communication and Collective Perception for Autonomous Driving |
Sub Title (in English) |
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Keyword(1) |
V2X |
Keyword(2) |
Cooperative-ITS |
Keyword(3) |
Collective Perception Message |
Keyword(4) |
Autoware |
Keyword(5) |
Dual-channel Redundancy |
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1st Author's Name |
Yu Asabe |
1st Author's Affiliation |
The University of Tokyo (UTokyo) |
2nd Author's Name |
Ehsan Javanmardi |
2nd Author's Affiliation |
The University of Tokyo (UTokyo) |
3rd Author's Name |
Jin Nakazato |
3rd Author's Affiliation |
The University of Tokyo (UTokyo) |
4th Author's Name |
Manabu Tsukada |
4th Author's Affiliation |
The University of Tokyo (UTokyo) |
5th Author's Name |
Hiroshi Esaki |
5th Author's Affiliation |
The University of Tokyo (UTokyo) |
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Speaker |
Author-1 |
Date Time |
2023-02-22 15:50:00 |
Presentation Time |
15 minutes |
Registration for |
ITS |
Paper # |
ITS2022-77, IE2022-94 |
Volume (vol) |
vol.122 |
Number (no) |
no.384(ITS), no.385(IE) |
Page |
pp.198-203 |
#Pages |
6 |
Date of Issue |
2023-02-14 (ITS, IE) |
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