Compensation of wireless communication delay for integrated risk management of automated vehicle

For the generic assessment and the total management of collision risks in urban driving situations, it is important to estimate and represent the target vehicles' behavior such as yaw rate, absolute velocity and acceleration which are state of the target vehicle. To achieve this, this paper presents a compensation of wireless communication delay for integrated risk management of automated vehicle. Recent developments in vehicle onboard computers and wireless communications devices, also known as dedicated short-range communication (DSRC) devices allow the exchange of information between vehicles (inter-vehicle communications). In an application of vehicle to vehicle (V2V) communication, the most important issue is to handle delay which has a negative impact on safety issue since communication networks generally introduce delays. To cope with this problem, the inter-vehicle communication system is firstly modelled by reflecting signal characteristic. To compensate the communication delay, state augmented estimation algorithm is used based on extended Kalman filters (EKF). The performance of the proposed estimation algorithm is verified via real time simulations.