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Impact analysis of cooperative perception on the performance of automated driving in unsignalized roundabouts

Authors: Hazim Zainudin; Konstantinos Koufos; Graham Lee; Lintong Jiang; Mehrdad Dianati;

Impact analysis of cooperative perception on the performance of automated driving in unsignalized roundabouts

Abstract

This paper reports the implementation and results of a simulation-based analysis of the impact of cloud/edge-enabled cooperative perception on the performance of automated driving in unsignalized roundabouts. This is achieved by comparing the performance of automated driving assisted by cooperative perception to that of a baseline system, where the automated vehicle relies only on its onboard sensing and perception for motion planning and control. The paper first provides the descriptions of the implemented simulation model, which integrates the SUMO road traffic generator and CARLA simulator. This includes descriptions of both the baseline and cooperative perception-assisted automated driving systems. We then define a set of relevant key performance indicators for traffic efficiency, safety, and ride comfort, as well as simulation scenarios to collect relevant data for our analysis. This is followed by the description of simulation scenarios, presentation of the results, and discussions of the insights learned from the results.

Related Organizations
Keywords

Robotics and AI, vehicle-to-everything communication, Artificial Intelligence, surrogate safety assessment model, Electronic computers. Computer science, TJ1-1570, connected and automated vehicles, mobile edge computing, Mechanical engineering and machinery, QA75.5-76.95, motion planning, cooperative perception, Computer Science Applications

  • BIP!
    Impact byBIP!
    selected citations
    These citations are derived from selected sources.
    This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    6
    popularity
    This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
    Top 10%
    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    Top 10%
    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
    Top 10%
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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
6
Top 10%
Top 10%
Top 10%
Green
gold