V2X Assisted Co-Design of Motion Planning and Control for Connected Automated Vehicle

The rapid development of vehicle-to-everything (V2X) communication technologies significantly promotes the revolution of intelligent transportation systems. V2X communication is expected to play a critical role in enhancing the safety and efficiency of connected and automated vehicles (CAVs), especially for mixed traffic scenarios. Additionally, the computational and storage capabilities of roadside units (RSUs) will be harnessed to effectively enhance the motion planning and control performance of CAVs within the constraints of limited on-board computational resources. Thus, a V2X assisted co-design of motion planning and control algorithm for CAVs to improve their situational awareness and computational efficiency is proposed. Under this architecture, a pre-planning algorithm is proposed first to utilize the computational and storage capabilities of RSUs and generate feasible trajectories for different driving tasks. By analysing the relationship between driving risk index and motion planning performance, an online-planning algorithm is derived to modify the pre-planned trajectories in real-time with static or dynamic obstacles. Furthermore, the lateral and longitudinal control of the vehicle using the Frenet coordinate system is decoupled. The lateral control employs an offline linear quadratic regulator (LQR) from RSUs to control the steering angle of the vehicle. The longitudinal control employs a dual-loop PID to control the throttle opening of the vehicle. The performance of the proposed framework is evaluated and demonstrated by a Carsim-Prescan simulation study in different mixed traffic scenarios. Compared with conventional methods, the proposed method improves the computational efficiency by 23% and reduces the collision rate by 13%.