Developing a Sensor Agnostic Infrastructure-Based Control Approach for Crossroad Assistance using Simulation

Abstract

Crossroad assistance has the potential to contribute to a fair distribution of road space and increase the safety of all road users. This paper presents an infrastructure-based control approach to support crossroad assistance by implementing remote-controlled turning maneuvers on a test track. The approach involves several steps, including the detection of traffic events using camera- based object recognition, inserting dynamic objects into the simulation via V2X transmission, adding lanes and traffic signal phases through V2X data forwarding to a high-precision simulation map, trajectory prediction of all dynamic objects in the simulation, sending a trajectory list to the test vehicle, and providing feedback through the vehicle’s response to the trajectory list and re-detection of objects.