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Paper Abstract and Keywords
Presentation 2026-11-05 09:25
Mode Switching Between Infrastructure-Based and Standalone Autonomous Driving for Micro-Mobility Vehicles
Kaito Kataoka, Shunsuke Sato, Masaki Wago, Ryoichi Shinkuma, Toshiya Hirose, Gabriele Trovato (SIT) SeMI2026-31
Abstract (in Japanese) (See Japanese page) 
(in English) Infrastructure-based autonomous driving reduces the on-board sensing and computing requirements of micro-mobility vehicles, but operation may be interrupted outside communication or sensing coverage.
This paper proposes a hybrid system that switches self-position estimation and route generation between an edge computer in Infrastructure-based mode (I-mode) and an on-board computer in Standalone mode (S-mode) according to the vehicle position.
In the Edge-triggered scheme, the vehicle classifies its area using Area information from the edge computer; in the Vehicle-triggered scheme, the edge computer classifies the area using Position information from the vehicle.
Experiments with real vehicles confirmed mode switching and continuous autonomous driving with pedestrian-responsive stopping in a blind-spot scenario.
Keyword (in Japanese) (See Japanese page) 
(in English) Micro-mobility / autonomous driving / edge computing / computation offloading / LiDAR sensor network / mode switching / /  
Reference Info. IEICE Tech. Rep., vol. 126, no. 221, SeMI2026-31, pp. 54-57, Nov. 2026.
Paper # SeMI2026-31 
Date of Issue 2026-10-28 (SeMI) 
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)
Download PDF SeMI2026-31

Conference Information
Committee SeMI  
Conference Date 2026-11-04 - 2026-11-05 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To SeMI 
Conference Code 2026-11-SeMI 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Mode Switching Between Infrastructure-Based and Standalone Autonomous Driving for Micro-Mobility Vehicles 
Sub Title (in English)  
Keyword(1) Micro-mobility  
Keyword(2) autonomous driving  
Keyword(3) edge computing  
Keyword(4) computation offloading  
Keyword(5) LiDAR sensor network  
Keyword(6) mode switching  
Keyword(7)  
Keyword(8)  
1st Author's Name Kaito Kataoka  
1st Author's Affiliation Shibaura Institute of Technology (SIT)
2nd Author's Name Shunsuke Sato  
2nd Author's Affiliation Shibaura Institute of Technology (SIT)
3rd Author's Name Masaki Wago  
3rd Author's Affiliation Shibaura Institute of Technology (SIT)
4th Author's Name Ryoichi Shinkuma  
4th Author's Affiliation Shibaura Institute of Technology (SIT)
5th Author's Name Toshiya Hirose  
5th Author's Affiliation Shibaura Institute of Technology (SIT)
6th Author's Name Gabriele Trovato  
6th Author's Affiliation Shibaura Institute of Technology (SIT)
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Speaker Author-1 
Date Time 2026-11-05 09:25:00 
Presentation Time 25 minutes 
Registration for SeMI 
Paper # SeMI2026-31 
Volume (vol) vol.126 
Number (no) no.221 
Page pp.54-57 
#Pages 4 
Date of Issue 2026-10-28 (SeMI) 

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