Título : Modelado y simulación de conectividad V2X en la plataforma de conducción autónoma Carla |
Autor : Servin, Rubén Andrés |
Tutor: Sepulcre, Miguel  |
Editor : Universidad Miguel Hernández de Elche |
Departamento: Departamentos de la UMH::Ingeniería de Comunicaciones |
Fecha de publicación: 2023-12 |
URI : https://hdl.handle.net/11000/31590 |
Resumen :
La conducción autónoma se prevé clave para el futuro del transporte gracias a mejoras en
la seguridad y eficiencia del tráfico. Para conseguir circular de forma autónoma sin
intervención humana, los vehículos autónomos emplean sensores para percibir su entorno
local de conducción y maniobrar consec... Ver más
Autonomous driving is expected to be key to the future of transportation thanks to
improvements in traffic safety and efficiency. To achieve autonomous driving without
human intervention, autonomous vehicles use sensors to perceive their local driving
environment and maneuver accordingly. Sensor technology has improved significantly in
recent years in terms of sensing range and accuracy. However, sensing capabilities can
still be impaired due to the presence of obstacles, adverse weather conditions or lighting
conditions, among other factors. These limitations can negatively influence the safety and
efficiency of autonomous vehicles.
In this context, V2X (Vehicle-to-Everything) communications can reduce this negative
impact and improve the perception or sensing capabilities of connected and autonomous
vehicles by facilitating the exchange of sensor data between vehicles. This process is
generally referred to as cooperative perception, collective perception or cooperative
sensing. Cooperative sensing allows vehicles to exchange data captured by their sensors.
This provides vehicles with additional information about the driving environment. For
example, receiving vehicles will be able to detect objects that would otherwise not be
detectable locally. Cooperative sensing also helps mitigate the negative impact of adverse
weather or lighting conditions. Cooperative perception is therefore essential for
autonomous vehicles to have an accurate perception of the environment .
For the study of V2X communication systems in general, and cooperative perception in
particular, simulators that allow realistic emulation are required to produce adequate
results. Despite advances in traffic and network simulators, these often do not consider
perception and communications as interrelated aspects, which may limit their usefulness
for the study and development of connected autonomous vehicles. In addition, these
simulations can require a considerable amount of time, effort and computational power,
depending on communication parameters and traffic density.
This Final Degree Work addresses these challenges by implementing a V2X
communications module in a realistic simulator that allows simulating autonomous
driving scenarios. This approach unifies the simulation of the environment and communications, allowing a more complete and efficient study of connected autonomous
vehicles. With this module, vehicular communications can be analyzed and studied in a
realistic environment, leveraging simulations to improve perception based on analytical
communications models configured to account for a wide variety of communications
errors that can arise in communications.
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Palabras clave/Materias: conducción autónoma seguridad comunicaciones V2X percepción cooperativa |
Área de conocimiento : CDU: Ciencias aplicadas: Ingeniería. Tecnología |
Tipo de documento : info:eu-repo/semantics/bachelorThesis |
Derechos de acceso: info:eu-repo/semantics/openAccess Attribution-NonCommercial-NoDerivatives 4.0 Internacional |
Aparece en las colecciones: TFG- Ingeniería de Tecnologías de Telecomunicación
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