This paper takes a unsignalized intersection as the background, takes the Connected Autonomous Vehicles (CAVs) as the research object, and focuses on the path optimization problem of the CAV in a traffic environment with both CAVs and Human-Driven Vehicles (HDVs) with the goal of ensuring traffic safety and improving traffic efficiency. In view of the above problems, this paper proposes a path optimization method for driving CAV at unsignalized intersections with the assistance of Road Side Unit (RSU). Simulation results show that the path optimization algorithm proposed in this paper can guide the CAV to pass through the unsignalized intersection safely and efficiently.
In this paper we describe a hardware-in-the-loop platform (HIL) for evaluating the performance of On-Board-Unit (OBU) in C-V2X scenario. We use CARLA as the simulation environment to obtain high fidelity scenario data. In this platform we design the basic evaluation scenarios based on current standards and then design random scenario parameters for obtaining a large number of test scenarios with different parameters to test the robustness of the algorithm. The key scenario parameters are stored while the scenario is running and are used to analyze and evaluate the performance of the algorithm at the end of the scenario and to produce an evaluation report, a use case is provided in the text to demonstrate the overall usefulness of the platform.
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