Wang Jian, Zheng Qiang, Mei Fang, Deng Weiwen, Ge Yuming
College of Computer Science and Technology, Jilin University, Changchun 130012, China.
Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, Changchun 130012, China.
Sensors (Basel). 2019 May 11;19(9):2187. doi: 10.3390/s19092187.
Autonomous vehicles need to have sufficient perception of the surrounding environment to produce appropriate driving behavior. The Vehicle-to-Vehicle (V2V) communication technology can exchange the speed, position, direction, and other information between autonomous vehicles to improve the sensing ability of the traditional on-board sensors. For example, V2V communication technology does not have a blind spot like a conventional on-board sensor, and V2V communication is not easily affected by weather conditions. However, it is almost impossible to make every vehicle a V2V-equipped vehicle in the real environment due to reasons such as policy and user choice. Low penetration of V2V-equipped vehicles greatly reduces the performance of the traditional V2V system. In this paper, however, we propose a novel method that can extend the awareness ability of the traditional V2V system without adding much extra investment. In the traditional V2V system, only a V2V-equipped vehicle can broadcast its own location information. However, the situation is somewhat different in our V2V system. Although non-V2V-equipped vehicles cannot broadcast their own location information, we can let V2V-equipped vehicle with radar and other sensors detect the location information of the surrounding non-V2V-equipped vehicles and then broadcast it out. Therefore, we think that a non-V2V-equipped vehicle can also broadcast its own location information. In this way, we greatly extend the awareness ability of the traditional V2V system. The proposed method is validated by real experiments and simulation experiments.
自动驾驶车辆需要对周围环境有足够的感知，以产生适当的驾驶行为。车对车（V2V）通信技术可以在自动驾驶车辆之间交换速度、位置、方向等信息，以提高传统车载传感器的传感能力。例如，V2V通信技术不像传统车载传感器那样存在盲点，并且V2V通信不容易受到天气条件的影响。然而，由于政策和用户选择等原因，在实际环境中几乎不可能使每辆车都成为配备V2V的车辆。配备V2V的车辆的低普及率大大降低了传统V2V系统的性能。然而，在本文中，我们提出了一种新颖的方法，该方法可以在不增加太多额外投资的情况下扩展传统V2V系统的感知能力。在传统的V2V系统中，只有配备V2V的车辆才能广播其自身的位置信息。然而，在我们的V2V系统中情况有所不同。虽然未配备V2V的车辆无法广播其自身的位置信息，但我们可以让配备V2V的车辆利用雷达和其他传感器检测周围未配备V2V的车辆的位置信息，然后将其广播出去。因此，我们认为未配备V2V的车辆也可以广播其自身的位置信息。通过这种方式，我们大大扩展了传统V2V系统的感知能力。所提出的方法通过实际实验和仿真实验得到了验证。
