Generating routes for autonomous driving in vehicle-to-infrastructure communications

Abstract The study of vehicular networks has attracted great interest in academia and the industry. In the broad area, connected vehicles and autonomous driving are technologies based on wireless data communication between vehicles or between vehicles and infrastructures. A Vehicle-to-Infrastructure (V2I) system consists of communications and computing over vehicles and related infrastructures. In such a system, wireless sensors are installed in some selected points along roads or driving areas. In autonomous driving, it is crucial for a vehicle to figure out the ideal routes by the communications between its equipped sensors and infrastructures then the vehicle is automatically moving along the routes. In this paper, we propose a Bezier curve based recursive algorithm, which effectively creates routes for vehicles through the communication between the OBU (On Board Unit) and RSUs (Road Side). In addition, this approach generates a very low overhead. We conduct simulations to test the proposed algorithm in various situations. The experiment results demonstrate that our algorithm creates almost ideal routes.