Design And Implementation Of C-V2X Oriented Intelligent Transportation Application Simulation System

The Intelligent Transport System(ITS)is a new type of service system that integrates communication technology,sensor technology,image processing and other technological methods.Based on the information sharing between vehicles and the other traffic participants(Vehicle to Everything,V2X),it aims to achieve road safety,traffic efficiency,information services and other types of applications.From the perspective of software,this thesis builds an intelligent transportation application simulation platform based on Carla,and completes the design and simulation of basic traffic application algorithms such as forward collision warning,red light violation warning,and green light optimal speed advisory.The algorithm comprehensively considers factors such as weather,ground friction coefficient,vehicle braking ability,driver reaction time,etc.,and not only gives early warning information,but also completes vehicle control.When multiple dangerous scenes are concurrent,the scene algorithm with the highest warning level will be selected to execute,which ensures the safety of the driver.To ensure the authenticity and reliability of the communication simulation,the second part of this thesis uses the SimuLTE simulation library to build a C-V2X communication simulation platform,and develops interactive interfaces for the communication simulation platform and the traffic application simulation platform,builds a C-V2X-oriented intelligent transportation application simulation platform.We also developed a hardware-in-the-loop(HIL)version of the simulation platform for intelligent transportation applications by replacing the communication simulation platform with real physical communication between OBUs.Finally,we compare the simulation effects of basic traffic application algorithms under three different communication models.In the last part of this thesis,on the basis of the previously built CV2X-oriented intelligent transportation application simulation platform,the spatial position conversion of the detection results of the point cloudbased 3D object detector is carried out,and C-V2X is used to send and fuse detection information of other vehicle,and the LiDAR detection enhancement algorithm based on vehicle-to-vehicle communication is completed.It solves the problem of poor detection effect of lidar in long distance,bad weather or when there are objects occluded,and improves the accuracy,and the experimental results show that the improvement effect is greatly enhanced with the increase of the proportion of connected vehicles.