Cooperative Intersection Crossing Over 5G
Artikel i vetenskaplig tidskrift, 2021

IEEE Autonomous driving is a safety critical application of sensing and decision-making technologies. Communication technologies extend the awareness capabilities of vehicles, beyond what is achievable with the on-board systems only. Nonetheless, issues typically related to wireless networking must be taken into account when designing safe and reliable autonomous systems. The aim of this work is to present a control algorithm and a communication paradigm over 5G networks for negotiating traffic junctions in urban areas. The proposed control framework has been shown to converge in a finite time and the supporting communication software has been designed with the objective of minimizing communication delays. At the same time, the underlying network guarantees reliability of the communication. The proposed framework has been successfully deployed and tested, in partnership with Ericsson AB, at the AstaZero proving ground in Goteborg, Sweden. In our experiments, three heterogeneous autonomous vehicles successfully drove through a 4-way intersection of 235 square meters in an urban scenario.

Wireless fidelity

performance measurements

distributed control and coordination

Autonomous vehicles

Real-time systems

5G networks




network-based communication

5G mobile communication


Luca Maria Castiglione

Universita degli Studi di Napoli Federico II

Paolo Falcone

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Alberto Petrillo

Universita degli Studi di Napoli Federico II

Simon Pietro Romano

Universita degli Studi di Napoli Federico II

S. Santini

Universita degli Studi di Napoli Federico II

IEEE/ACM Transactions on Networking

1063-6692 (ISSN)

Vol. 29 1 303-317 9253544




Inbäddad systemteknik



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