V2X Communication Between Connected and Automated Vehicles (CAVs) and Unmanned Aerial Vehicles (UAVs)

TL;DR

This paper demonstrates the hardware implementation and testing of ground-to-air V2X communication links between CAVs and UAVs using DSRC and 4G WebSocket, enabling real-time data exchange for coordinated missions.

Contribution

It introduces a practical communication framework combining DSRC and 4G WebSocket for CAV-UAV coordination, validated through real-life stationary and dynamic tests.

Findings

Both DSRC and 4G links successfully established in tests.

The combined communication system supports real-time location and image data transfer.

The approach is viable for real-world CAV-UAV applications.

Abstract

Connectivity between ground vehicles can be utilized and expanded to include aerial vehicles for coordinated missions. Using Vehicle-to-Everything (V2X) communication technologies, a communication link can be established between Connected and Autonomous vehicles (CAVs) and Unmanned Aerial vehicles (UAVs). Hardware implementation and testing of a ground to air communication link is crucial for real-life applications. Two different communication links were established, Dedicated Short Range communication (DSRC) and 4G internet based WebSocket communication. Both links were tested separately both for stationary and dynamic test cases. One step further, both links were used together for a real-life use case scenario called Quick Clear demonstration. The aim was to first send ground vehicle location information from the CAV to the UAV through DSRC communication. On the UAV side, the connection between the DSRC modem and Raspberry Pi companion computer was established through User Datagram Protocol (UDP) to get the CAV location information to the companion computer. Raspberry Pi handles 2 different connection, it first connects to a traffic contingency management system (CMP) through Transmission Control Protocol (TCP) to send CAV and UAV location information to the CMP. Secondly, Raspberry Pi uses a WebSocket communication to connect to a web server to send photos taken by an on-board camera the UAV has. Quick Clear demo was conducted both for stationary test and dynamic flight tests. The results show that this communication structure can be utilized for real-life scenarios.