Design and Implementation of HD Mapping, Vehicle Control, and V2I Communication for Robo-Taxi Services

Abstract

This paper presents our autonomous driving (AD) software stack, developed to complete the main mission of the contest we entered. The main mission can be simply described as a robo-taxi service on public roads, to transport passengers to their destination autonomously. Among the key competencies required for the main mission, this paper focused on high-definition mapping, vehicle control, and vehicle-to-infrastructure (V2I) communication. V2I communication refers to the task of wireless data exchange between a roadside unit and vehicles. With the data being captured and shared, rich, timely, and non-line-of-sight-aware traffic information can be utilized for a wide range of AD applications. In the contest, V2I communication was applied for a robo-taxi service, and also for traffic light recognition. A V2I communication-enabled traffic light recognizer was developed, to achieve a nearly perfect recognition rate, and a robo-taxi service handler was developed, to perform the main mission of the contest.

Keywords

• autonomous driving
• HD map
• disturbance observer
• V2I communication