TY - GEN
T1 - Shared Situational Awareness with V2X Communication and Set-membership Estimation
AU - Narri, Vandana
AU - Alanwar, Amr
AU - Mårtensson, Jonas
AU - Norén, Christoffer
AU - Johansson, Karl Henrik
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - The ability to perceive and comprehend a traffic situation and to estimate the state of the vehicles and road-users in the surrounding of the ego-vehicle is known as situational awareness. Situational awareness for a heavy-duty autonomous vehicle is a critical part of the automation platform and depends on the ego-vehicle's field-of-view. But when it comes to the urban scenarios, the field-of-view of the ego-vehicle is likely to be affected by occlusions and blind spots caused by infrastructure, moving vehicles, and parked vehicles. This paper proposes a framework to improve situational awareness using set-membership estimation and Vehicle-to-Everything (V2X) communication. This framework provides safety guarantees and can adapt to dynamically changing scenarios, and is integrated into an existing complex autonomous platform. A detailed description of the framework implementation and realtime results are illustrated in this paper.
AB - The ability to perceive and comprehend a traffic situation and to estimate the state of the vehicles and road-users in the surrounding of the ego-vehicle is known as situational awareness. Situational awareness for a heavy-duty autonomous vehicle is a critical part of the automation platform and depends on the ego-vehicle's field-of-view. But when it comes to the urban scenarios, the field-of-view of the ego-vehicle is likely to be affected by occlusions and blind spots caused by infrastructure, moving vehicles, and parked vehicles. This paper proposes a framework to improve situational awareness using set-membership estimation and Vehicle-to-Everything (V2X) communication. This framework provides safety guarantees and can adapt to dynamically changing scenarios, and is integrated into an existing complex autonomous platform. A detailed description of the framework implementation and realtime results are illustrated in this paper.
UR - http://www.scopus.com/inward/record.url?scp=85186536612&partnerID=8YFLogxK
U2 - 10.1109/ITSC57777.2023.10422498
DO - 10.1109/ITSC57777.2023.10422498
M3 - Conference contribution
AN - SCOPUS:85186536612
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 3335
EP - 3342
BT - 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023
Y2 - 24 September 2023 through 28 September 2023
ER -