Key technologies and applications of C-V2X based vehicle-infrastructure cooperative autonomous driving

Kun WANG; Zhenjiang DONG; Fan YANG; Guyue ZHOU

doi:10.11959/j.issn.1000-0801.2023048

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Key technologies and applications of C-V2X based vehicle-infrastructure cooperative autonomous driving

Topic: Intelligent Connected Vehicle and V2X | 更新时间：2024-06-05

- Key technologies and applications of C-V2X based vehicle-infrastructure cooperative autonomous driving
- Telecommunications Science Vol. 39, Issue 3, Pages: 45-60(2023)
- 作者机构：
  
  1. 北京百度智行科技有限公司，北京 100193
  2. 南京邮电大学，江苏南京 210023
  3. 清华大学人工智能产业研究院，北京 100084
- 作者简介：
- 基金信息：
- DOI：10.11959/j.issn.1000-0801.2023048
  CLC：
- Published Online：2023-03，
  
  Published：20 March 2023
- 稿件说明：
移动端阅览
Kun WANG, Zhenjiang DONG, Fan YANG, et al. Key technologies and applications of C-V2X based vehicle-infrastructure cooperative autonomous driving[J]. Telecommunications science, 2023, 39(3): 45-60.
DOI：

Kun WANG, Zhenjiang DONG, Fan YANG, et al. Key technologies and applications of C-V2X based vehicle-infrastructure cooperative autonomous driving[J]. Telecommunications science, 2023, 39(3): 45-60. DOI： 10.11959/j.issn.1000-0801.2023048.

摘要

随着车联网技术的演进，自动驾驶在单车智能的基础上，又有了新的发展形态——车路协同自动驾驶。通过“人-车-路-云”深度融合形成的一体化复杂信息物理系统（cyber physical system，CPS），可以与自动驾驶车辆实现协同感知、协同决策规划甚至协同控制，提升自动驾驶安全性，帮助克服各类复杂交通环境。首先介绍了车路协同的复杂信息物理系统的概念内涵和总体架构，并提出了车路协同自动驾驶的一系列典型应用场景、技术原理、C-V2X（cellular vehicle-to-everything）性能要求、车路协同系统功能与性能要求，可以为下一阶段智能网联汽车与智能交通的深度融合发展提供参考和解决思路。

Abstract

With the evolution of vehicle-to-everything (V2X) technology

autonomous driving (AD) has entered a new stage of development

called vehicle-infrastructure cooperative autonomous driving (VICAD).Through the integrated complex cyber-physical system formed by the deep integration of “human-vehicle-road-cloud”

cooperative perception

cooperative decision-making and planning

and even cooperative control can be achieved with autonomous vehicles (AV)

enhancing the safety of autonomous driving and helping to overcome various complex traffic environments.The concept and overall architecture of the complex cyber-physical system of VICAD was firstly introduced

and a series of typical application scenarios

technical principles

C-V2X performance requirements

and functional and performance requirements of the VICAD system were proposed.It can provide a reference and solution for the deep integration development of intelligent networked vehicles and intelligent transportation in the next stage.

关键词

Keywords

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