The Use of Lane-Centering to Assure the Visible Light Communication Connectivity for a Platoon of Autonomous Vehicles
The new emerging Visible Light Communication
(VLC) technology has been subjected to intensive investigation,
evaluation, and lately, deployed in the context of convoy-based
applications for Intelligent Transportations Systems (ITS). The
technology limitations were defined and supported by different
solutions proposals to enhance the crucial alignment and mobility
limitations. In this paper, we propose the incorporation of VLC
technology and Lane-Centering (LC) technique to assure the
VLC-connectivity by keeping the autonomous vehicle aligned to
the lane center using vision-based lane detection in a convoy-based
formation. Such combination can ensure the optical communication
connectivity with a lateral error less than 30 cm. As soon as the
road lanes are detectable, the evaluated system showed stable
behavior independently from the inter-vehicle distances and
without the need for any exchanged information of the remote
vehicles. The evaluation of the proposed system is verified using
VLC prototype and an empirical result of LC running application
over 60 km in Madrid M40 highway.
[1] S. Tsugawa, “Inter-vehicle communications and their applications to
intelligent vehicles: an overview,” in Intelligent Vehicle Symposium,
2002. IEEE, vol. 2, June 2002, pp. 564–569 vol.2.
[2] M. Abualhoul, “Visible Light and Radio Communication for
Cooperative Autonomous Driving: applied to vehicle convoy,”
Theses, MINES ParisTech, Dec. 2016. (Online). Available: https:
//hal.inria.fr/tel-01447124.
[3] D. Jiang and L. Delgrossi, “Ieee 802.11p: Towards an international
standard for wireless access in vehicular environments,” in Vehicular
Technology Conference, 2008. VTC Spring 2008. IEEE, May 2008,
pp. 2036–2040.
[4] J. J. Anaya, E. Talavera, D. Gimnez, N. Gmez, J. Felipe, and J. E.
Naranjo, “Vulnerable road users detection using v2x communications,”
pp. 107–112, Sept 2015.
[5] Y. Wang, J. Hu, Y. Zhang, and C. Xu, “Reliability evaluation of
ieee 802.11p-based vehicle-to-vehicle communication in an urban
expressway,” Tsinghua Science and Technology, vol. 20, no. 4, pp.
417–428, August 2015.
[6] M. Y. Abualhoul, M. Marouf, O. Shagdar, and F. Nashashibi,
“Platooning control using visible light communications: A feasibility
study,” in 16th International IEEE Conference on Intelligent
Transportation Systems (ITSC 2013), Oct 2013, pp. 1535–1540.
[7] B. B´echadergue, L. Chassagne, and H. Guan, “Experimental
comparison of pulse-amplitude and spatial modulations for
vehicle-to-vehicle visible light communication in platoon
configurations,” Opt. Express, vol. 25, no. 20, pp. 24 790–24 802, Oct
2017. (Online). Available: http://www.opticsexpress.org/abstract.cfm?
URI=oe-25-20-24790.
[8] M. Abualhoul, M. Marouf, O. Shag, and F. Nashashibi, “Enhancing
the field of view limitation of visible light communication-based
platoon,” in Wireless Vehicular Communications (WiVeC), 2014 IEEE
6th International Symposium on, Sept 2014, pp. 1–5.
[9] A. M. Cilean and M. Dimian, “Current challenges for visible light
communications usage in vehicle applications: A survey,” IEEE
Communications Surveys Tutorials, vol. 19, no. 4, pp. 2681–2703,
Fourthquarter 2017.
[10] Y. Wang, E. K. Teoh, and D. Shen, “Lane detection and tracking
using b-snake,” Image and Vision Computing, vol. 22, no. 4, pp.
269 – 280, 2004. (Online). Available: http://www.sciencedirect.com/
science/article/pii/S0262885603002105.
[11] S. Shladover, “Path at 20 - history and major milestones,” in Intelligent
Transportation Systems Conference, 2006. ITSC ’06. IEEE, 2006, pp.
122–129.
[12] P. Daviet and M. Parent, “Longitudinal and lateral servoing of vehicles
in a platoon,” in Intelligent Vehicles Symposium, 1996., Proceedings
of the 1996 IEEE, 1996, pp. 41–46.
[13] S. Hall, B. Chaib-draa, and J. Laumonier, “Car platoons simulated
as a multiagent system,” in In: Proc. 4th Workshop on Agent-Based
Simulation, 2003, pp. 57–63.
[14] E. C. Tom Robinson, Eric Chan, “Operating platoons on public
motorways: An introduction to the sartre platooning programme,” in
17th World Congress on Intelligent Transport Systems (ITS) 2010,
October 2010.
[15] S. Oncu, J. Ploeg, N. van de Wouw, and H. Nijmeijer, “Cooperative
adaptive cruise control: Network-aware analysis of string stability,”
Intelligent Transportation Systems, IEEE Transactions on, vol. 15,
no. 4, pp. 1527–1537, 2014.
[16] V. Milan´es, S. E. Shladover, J. Spring, C. Nowakowski, H. Kawazoe,
and M. Nakamura, “Cooperative adaptive cruise control in real traffic
situations,” Intelligent Transportation Systems, IEEE Transactions on,
vol. 15, no. 1, pp. 296–305, 2014.
[17] A. Cailean, B. Cagneau, L. Chassagne, S. Topsu, Y. Alayli, and J.-M.
Blosseville, “Visible light communications: Application to cooperation
between vehicles and road infrastructures,” in 2012 IEEE Intelligent
Vehicles Symposium (IV), 2012, pp. 1055–1059.
[18] M. Y. Abualhoul, O. Shagdar, and F. Nashashibi, “Visible light
inter-vehicle communication for platooning of autonomous vehicles,”
in 2016 IEEE Intelligent Vehicles Symposium (IV), June 2016, pp.
508–513.
[19] B. M. Masini, A. Bazzi, and A. Zanella, “Vehicular visible light
networks with full duplex communications,” in 2017 5th IEEE
International Conference on Models and Technologies for Intelligent
Transportation Systems (MT-ITS), June 2017, pp. 98–103.
[20] A. Demir and M. C. Macit, “Cooperative adaptive cruise control using
visible light communication,” in 2017 25th Signal Processing and
Communications Applications Conference (SIU), May 2017, pp. 1–4.
[21] (Online). Available: http://www.inria.fr.
[22] M. Y. Abualhoul, P. Merdrignac, O. Shagdar, and F. Nashashibi,
“Study and evaluation of laser-based perception and light
communication for a platoon of autonomous vehicles,” in 2016
IEEE 19th International Conference on Intelligent Transportation
Systems (ITSC), Nov 2016, pp. 1798–1804.
[23] Z. Guo, H. Liu, Y. Qian, and X. Wang, “A novel obstacle detection
method based on distortion of laser pattern,” pp. 1–6, July 2016.
[24] R. Behringer, S. Sundareswaran, B. Gregory, R. Elsley, B. Addison,
W. Guthmiller, R. Daily, and D. Bevly, “The darpa grand challenge -
development of an autonomous vehicle,” in IEEE Intelligent Vehicles
Symposium, 2004, June 2004, pp. 226–231.
[25] M. R. Hafner, K. S. Zhao, A. Hsia, and Z. Rachlin, “Localization tools
for benchmarking adas control systems,” in 2016 IEEE International
Conference on Systems, Man, and Cybernetics (SMC), Oct 2016, pp.
002 665–002 670.
[26] J. W. Lee and B. Litkouhi, “A unified framework of the automated lane
centering/changing control for motion smoothness adaptation,” in 2012
15th International IEEE Conference on Intelligent Transportation
Systems, Sept 2012, pp. 282–287.
[27] J. E. Naranjo, C. Gonzalez, R. Garcia, and T. de Pedro, “Lane-change
fuzzy control in autonomous vehicles for the overtaking maneuver,”
IEEE Transactions on Intelligent Transportation Systems, vol. 9, no. 3,
pp. 438–450, Sept 2008.
[28] (Online). Available: http://www.mobileye.com/en-uk/products/
mobileye-5-series/.
[29] J. Kahn and J. Barry, “Wireless infrared communications,” vol. 85,
no. 2, pp. 265 –298, Feb. 1997.
[1] S. Tsugawa, “Inter-vehicle communications and their applications to
intelligent vehicles: an overview,” in Intelligent Vehicle Symposium,
2002. IEEE, vol. 2, June 2002, pp. 564–569 vol.2.
[2] M. Abualhoul, “Visible Light and Radio Communication for
Cooperative Autonomous Driving: applied to vehicle convoy,”
Theses, MINES ParisTech, Dec. 2016. (Online). Available: https:
//hal.inria.fr/tel-01447124.
[3] D. Jiang and L. Delgrossi, “Ieee 802.11p: Towards an international
standard for wireless access in vehicular environments,” in Vehicular
Technology Conference, 2008. VTC Spring 2008. IEEE, May 2008,
pp. 2036–2040.
[4] J. J. Anaya, E. Talavera, D. Gimnez, N. Gmez, J. Felipe, and J. E.
Naranjo, “Vulnerable road users detection using v2x communications,”
pp. 107–112, Sept 2015.
[5] Y. Wang, J. Hu, Y. Zhang, and C. Xu, “Reliability evaluation of
ieee 802.11p-based vehicle-to-vehicle communication in an urban
expressway,” Tsinghua Science and Technology, vol. 20, no. 4, pp.
417–428, August 2015.
[6] M. Y. Abualhoul, M. Marouf, O. Shagdar, and F. Nashashibi,
“Platooning control using visible light communications: A feasibility
study,” in 16th International IEEE Conference on Intelligent
Transportation Systems (ITSC 2013), Oct 2013, pp. 1535–1540.
[7] B. B´echadergue, L. Chassagne, and H. Guan, “Experimental
comparison of pulse-amplitude and spatial modulations for
vehicle-to-vehicle visible light communication in platoon
configurations,” Opt. Express, vol. 25, no. 20, pp. 24 790–24 802, Oct
2017. (Online). Available: http://www.opticsexpress.org/abstract.cfm?
URI=oe-25-20-24790.
[8] M. Abualhoul, M. Marouf, O. Shag, and F. Nashashibi, “Enhancing
the field of view limitation of visible light communication-based
platoon,” in Wireless Vehicular Communications (WiVeC), 2014 IEEE
6th International Symposium on, Sept 2014, pp. 1–5.
[9] A. M. Cilean and M. Dimian, “Current challenges for visible light
communications usage in vehicle applications: A survey,” IEEE
Communications Surveys Tutorials, vol. 19, no. 4, pp. 2681–2703,
Fourthquarter 2017.
[10] Y. Wang, E. K. Teoh, and D. Shen, “Lane detection and tracking
using b-snake,” Image and Vision Computing, vol. 22, no. 4, pp.
269 – 280, 2004. (Online). Available: http://www.sciencedirect.com/
science/article/pii/S0262885603002105.
[11] S. Shladover, “Path at 20 - history and major milestones,” in Intelligent
Transportation Systems Conference, 2006. ITSC ’06. IEEE, 2006, pp.
122–129.
[12] P. Daviet and M. Parent, “Longitudinal and lateral servoing of vehicles
in a platoon,” in Intelligent Vehicles Symposium, 1996., Proceedings
of the 1996 IEEE, 1996, pp. 41–46.
[13] S. Hall, B. Chaib-draa, and J. Laumonier, “Car platoons simulated
as a multiagent system,” in In: Proc. 4th Workshop on Agent-Based
Simulation, 2003, pp. 57–63.
[14] E. C. Tom Robinson, Eric Chan, “Operating platoons on public
motorways: An introduction to the sartre platooning programme,” in
17th World Congress on Intelligent Transport Systems (ITS) 2010,
October 2010.
[15] S. Oncu, J. Ploeg, N. van de Wouw, and H. Nijmeijer, “Cooperative
adaptive cruise control: Network-aware analysis of string stability,”
Intelligent Transportation Systems, IEEE Transactions on, vol. 15,
no. 4, pp. 1527–1537, 2014.
[16] V. Milan´es, S. E. Shladover, J. Spring, C. Nowakowski, H. Kawazoe,
and M. Nakamura, “Cooperative adaptive cruise control in real traffic
situations,” Intelligent Transportation Systems, IEEE Transactions on,
vol. 15, no. 1, pp. 296–305, 2014.
[17] A. Cailean, B. Cagneau, L. Chassagne, S. Topsu, Y. Alayli, and J.-M.
Blosseville, “Visible light communications: Application to cooperation
between vehicles and road infrastructures,” in 2012 IEEE Intelligent
Vehicles Symposium (IV), 2012, pp. 1055–1059.
[18] M. Y. Abualhoul, O. Shagdar, and F. Nashashibi, “Visible light
inter-vehicle communication for platooning of autonomous vehicles,”
in 2016 IEEE Intelligent Vehicles Symposium (IV), June 2016, pp.
508–513.
[19] B. M. Masini, A. Bazzi, and A. Zanella, “Vehicular visible light
networks with full duplex communications,” in 2017 5th IEEE
International Conference on Models and Technologies for Intelligent
Transportation Systems (MT-ITS), June 2017, pp. 98–103.
[20] A. Demir and M. C. Macit, “Cooperative adaptive cruise control using
visible light communication,” in 2017 25th Signal Processing and
Communications Applications Conference (SIU), May 2017, pp. 1–4.
[21] (Online). Available: http://www.inria.fr.
[22] M. Y. Abualhoul, P. Merdrignac, O. Shagdar, and F. Nashashibi,
“Study and evaluation of laser-based perception and light
communication for a platoon of autonomous vehicles,” in 2016
IEEE 19th International Conference on Intelligent Transportation
Systems (ITSC), Nov 2016, pp. 1798–1804.
[23] Z. Guo, H. Liu, Y. Qian, and X. Wang, “A novel obstacle detection
method based on distortion of laser pattern,” pp. 1–6, July 2016.
[24] R. Behringer, S. Sundareswaran, B. Gregory, R. Elsley, B. Addison,
W. Guthmiller, R. Daily, and D. Bevly, “The darpa grand challenge -
development of an autonomous vehicle,” in IEEE Intelligent Vehicles
Symposium, 2004, June 2004, pp. 226–231.
[25] M. R. Hafner, K. S. Zhao, A. Hsia, and Z. Rachlin, “Localization tools
for benchmarking adas control systems,” in 2016 IEEE International
Conference on Systems, Man, and Cybernetics (SMC), Oct 2016, pp.
002 665–002 670.
[26] J. W. Lee and B. Litkouhi, “A unified framework of the automated lane
centering/changing control for motion smoothness adaptation,” in 2012
15th International IEEE Conference on Intelligent Transportation
Systems, Sept 2012, pp. 282–287.
[27] J. E. Naranjo, C. Gonzalez, R. Garcia, and T. de Pedro, “Lane-change
fuzzy control in autonomous vehicles for the overtaking maneuver,”
IEEE Transactions on Intelligent Transportation Systems, vol. 9, no. 3,
pp. 438–450, Sept 2008.
[28] (Online). Available: http://www.mobileye.com/en-uk/products/
mobileye-5-series/.
[29] J. Kahn and J. Barry, “Wireless infrared communications,” vol. 85,
no. 2, pp. 265 –298, Feb. 1997.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:77577", author = "Mohammad Y. Abualhoul and Edgar Talavera Munoz and Fawzi Nashashibi", title = "The Use of Lane-Centering to Assure the Visible Light Communication Connectivity for a Platoon of Autonomous Vehicles", abstract = "The new emerging Visible Light Communication
(VLC) technology has been subjected to intensive investigation,
evaluation, and lately, deployed in the context of convoy-based
applications for Intelligent Transportations Systems (ITS). The
technology limitations were defined and supported by different
solutions proposals to enhance the crucial alignment and mobility
limitations. In this paper, we propose the incorporation of VLC
technology and Lane-Centering (LC) technique to assure the
VLC-connectivity by keeping the autonomous vehicle aligned to
the lane center using vision-based lane detection in a convoy-based
formation. Such combination can ensure the optical communication
connectivity with a lateral error less than 30 cm. As soon as the
road lanes are detectable, the evaluated system showed stable
behavior independently from the inter-vehicle distances and
without the need for any exchanged information of the remote
vehicles. The evaluation of the proposed system is verified using
VLC prototype and an empirical result of LC running application
over 60 km in Madrid M40 highway.", keywords = "VLC, lane-centering, platoon, ITS, road safety
applications.", volume = "12", number = "6", pages = "660-6", }
