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TalkyCars: A Distributed Software Platform for Cooperative Perception among Connected Autonomous Vehicles based on Cellular-V2X Communication

Mütsch, Ferdinand

Abstract:
Autonomous vehicles are required to operate among highly mixed traffic during their early market-introduction phase, solely relying on local sensory with limited range. Exhaustively comprehending and navigating complex urban environments is potentially not feasible with sufficient reliability using the aforesaid approach. Addressing this challenge, intelligent vehicles can virtually increase their perception range beyond their line of sight by utilizing Vehicle-to-Everything (V2X) communication with surrounding traffic participants to perform cooperative perception. Since existing solutions face a variety of limitations, including lack of comprehensiveness, universality and scalability, this thesis aims to conceptualize, implement and evaluate an end-to-end cooperative perception system using novel techniques. A comprehensive yet extensible modeling approach for dynamic traffic scenes is proposed first, which is based on probabilistic entity-relationship models, accounts for uncertain environments and combines low-level attributes with high-level relational- and semantic knowledge in a generic way. Second, the design of a holistic, distributed software architecture based on edge computing principles is proposed as a foundation for multi-vehicle high-level sensor fusion. ... mehr

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Volltext §
DOI: 10.5445/IR/1000118118
Veröffentlicht am 08.04.2020
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Technik der Informationsverarbeitung (ITIV)
Publikationstyp Hochschulschrift
Publikationsjahr 2020
Sprache Englisch
Identifikator KITopen-ID: 1000118118
Verlag KIT, Karlsruhe
Umfang 118 S.
Abschlussart Abschlussarbeit - Master
Prüfungsdaten 31.01.2020
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