English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

The emergence of the connected and automated vehicle (CAV) technology enablesnumerous advanced applications in our transportation system, benefiting ourdaily travels in terms of safety, mobility, and sustainability. However,vehicular communication technologies such as Dedicated Short-RangeCommunications (DSRC) or Cellular-Based Vehicle-to-Everything (C-V2X)communications unavoidably introduce issues like communication delay and packetloss, which will downgrade the performances of any CAV applications. In thisstudy, we propose a consensus-based motion estimation methodology to estimatethe vehicle motion when the vehicular communication environment is not ideal.This methodology is developed based on the consensus-based feedforward/feedbackmotion control algorithm, estimating the position and speed of a CAV in thepresence of communication delay and packet loss. The simulation study isconducted in a traffic scenario of unsignalized intersections, where CAVscoordinate with each other through V2X communications and cross intersectionswithout any full stop. Game engine-based human-in-the-loop simulation resultsshows the proposed motion estimation methodology can cap the positionestimation error to 0.5 m during periodic packet loss and time-variantcommunication delay.

Motion Estimation of Connected and Automated Vehicles under Communication Delay and Packet Loss of V2X Communications