Analysis of ITS-G5A V2X communications performance in autonomous cooperative driving experiments

I. Parra, Alvaro Garcia-Morcillo, R. Izquierdo, J. Alonso, D. F. Llorca, M. Sotelo
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引用次数: 8

Abstract

In this paper the performance of ITS-G5A communications for an autonomous driving application is analyzed in a real high-density scenario. The data was collected during the cooperative platooning tests that took place in Helmond in the frame of the Grand Cooperative Driving Challenge 2016. In the competition, between 8–10 autonomous vehicles formed two platoons in different lanes and were required to merge into a predefined competition zone. The performance is characterized using CAM CCDFs which serves as a base for the evaluation of a Cooperative Adaptive Cruise Control application. Two important effects has been identified that affect to the reliability of the communications. Firstly, there is a degradation with the distance that appears to be stronger for cars and more gentle for trucks. This indicates that occlusions heavily affect the connectivity of ITS-G5A. Secondly, the reliability is below expectations and some of the vehicles perform consistently worse than others. Although further investigation is required, a possible explanation for this is that a highly congested channel is making some of the vehicles get stuck and are not able to regularly access the channel.
自主协同驾驶实验中ITS-G5A V2X通信性能分析
本文在真实高密度场景下,分析了用于自动驾驶应用的ITS-G5A通信性能。这些数据是在赫尔蒙德进行的合作队列测试中收集的,该测试是在2016年大合作驾驶挑战赛的框架下进行的。在比赛中,8-10辆自动驾驶汽车在不同的车道上排成两排,并被要求合并到一个预定义的比赛区域。使用CAM ccdf对性能进行表征,作为评估协作自适应巡航控制应用的基础。已经确定了影响通信可靠性的两个重要因素。首先,随着行驶距离的增加,汽车的行驶距离似乎更大,而卡车的行驶距离似乎更小。这说明闭塞严重影响了ITS-G5A的连通性。其次,可靠性低于预期,一些车辆的性能一直比其他车辆差。虽然需要进一步调查,但一个可能的解释是,一个高度拥堵的通道使一些车辆被卡住,无法定期进入通道。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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