Abstract
A road-vehicle cooperation system for automatic driving vehicle in service areas of highway is proposed. The automatic driving vehicle travelling in the service areas must avoid pedestrians who are difficult to detect by onboard sensors due to occlusion by parked vehicles. The roadside sensors, if they are fixed on the adequate points, can detect the pedestrians in the environment where a lot of vehicles are parked. Moreover, the flow lines of pedestrians are patterned as round trip between the parked vehicle and the area of facilities such as shops and restrooms to some degree and thus, the movement of pedestrians can be predicted by referring the data of the previous trajectories of pedestrians obtained by the fixed-point observation by roadside sensors. This study proposes information processing method of the road-side sensors to derive the probabilistic prediction information of pedestrians’ movement and speed control algorithm of the automatic driving vehicle using the information sent from the road-side computer, and validates the proposed road-vehicle cooperative speed control for automatic driving by simulations and experiments.
