Title :
Compensation of wireless communication delay for integrated risk management of automated vehicle
Author :
Donghoon Shin ; Kyongsu Yi
Author_Institution :
Seoul Nat. Univ., Seoul, South Korea
fDate :
June 28 2015-July 1 2015
Abstract :
For the generic assessment and the total management of collision risks in urban driving situations, it is important to estimate and represent the target vehicles´ behavior such as yaw rate, absolute velocity and acceleration which are state of the target vehicle. To achieve this, this paper presents a compensation of wireless communication delay for integrated risk management of automated vehicle. Recent developments in vehicle onboard computers and wireless communications devices, also known as dedicated short-range communication (DSRC) devices allow the exchange of information between vehicles (inter-vehicle communications). In an application of vehicle to vehicle (V2V) communication, the most important issue is to handle delay which has a negative impact on safety issue since communication networks generally introduce delays. To cope with this problem, the inter-vehicle communication system is firstly modelled by reflecting signal characteristic. To compensate the communication delay, state augmented estimation algorithm is used based on extended Kalman filters (EKF). The performance of the proposed estimation algorithm is verified via real time simulations.
Keywords :
Kalman filters; accident prevention; nonlinear filters; risk management; vehicular ad hoc networks; EKF; V2V communication; automated vehicle integrated risk management; collision risk management; dedicated short-range communication; extended Kalman filter; intervehicle communication; state augmented estimation algorithm; urban driving situation; vehicle onboard computer; vehicle safety issue; vehicle to vehicle communication; wireless communication delay compensation; wireless communication device; Acceleration; Delay effects; Delays; Estimation; Roads; Vehicles; Wireless communication;
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2015 IEEE
Conference_Location :
Seoul
DOI :
10.1109/IVS.2015.7225904