# Cooperative Intersection Crossing over 5G

## TL;DR

This paper presents a 5G-based control and communication framework enabling autonomous vehicles to safely negotiate urban intersections, demonstrating successful real-world deployment with minimized delays and reliable communication.

## Contribution

It introduces a novel control algorithm and communication paradigm over 5G for intersection crossing, with proven convergence and real-world testing in partnership with Ericsson.

## Key findings

- Successful deployment at AstaZero proving ground
- Three autonomous vehicles crossed an intersection reliably
- Communication delays were minimized and reliability guaranteed

## Abstract

Autonomous driving is a safety critical application of sensing and decision-making technologies. Communication technologies extend the awareness capabilities of vehicles, beyond what is achievable with the on-board systems only. Nonetheless, issues typically related to wireless networking must be taken into account when designing safe and reliable autonomous systems. The aim of this work is to present a control algorithm and a communication paradigm over 5G networks for negotiating traffic junctions in urban areas. The proposed control framework has been shown to converge in a finite time and the supporting communication software has been designed with the objective of minimising communication delays. At the same time, the underlying network guarantees reliability of the communication. The proposed framework has been successfully deployed and tested, in partnership with Ericsson AB, at the AstaZero proving ground in Goteborg, Sweden. In our experiments, three autonomous vehicles successfully drove through an intersection of 235 square meters in a urban scenario.