Abstract
An intelligent vehicle for autonomous driving is one of the popular topics for a future transport system. In nowadays, many semi-automatic assist systems using various onboard sensors like ‘Lane Keeping Assist System’ and ‘Autonomous Cruise Control’ are under mass-production, and the market requirements are moving to full-automatic level. Onboard sensors are specialized to quickly detect obstacles around of ego-vehicle, and mostly used for fast reactive control. However, it cannot detect a target in the outside of sensing range or behind other obstacles. C2X communication which is based on the wireless linkage can be used for an additional sensor to solve the problem. With this communication, we can detect nearby vehicles by sharing a driving information even they are come from invisible area. And applying a multi-hop packet relay of vehicular ad-hoc network and RSU communication, we also can detect some events are happened in several kilometres far away from current place. Since wireless communication has timing problems to apply to a control application, we need a compensation logic for the control architecture to solve them. In this paper, we present an integration of C2X communication into IAV system. Our objective is applying a C2X wireless communication into IAV to eliminate a limitation of onboard sensor, and give extended information for autonomous driving. We define a control and perception logic with several parameters and warning modes. Then we implement this logic into C2C ECU and install to IAV, target vehicle and traffic signal RSU. Our IAV receives information of obstacles and road events through C2C ECU, and drives according to the given path autonomously with avoiding the traffic events and other vehicles that moves dynamically within track.