Design and Implementation of Smart Infrastructures and Connected Vehicles in A Mini-city Platform

TL;DR

This paper introduces a scaled mini-city platform for testing autonomous and connected vehicles, enabling evaluation of driving scenarios, computer vision, and vehicle-infrastructure communication in a controlled urban environment.

Contribution

It presents a novel mini-city platform with integrated smart infrastructure for evaluating autonomous vehicle technologies and V2I communication in realistic urban scenarios.

Findings

Effective evaluation of autonomous driving scenarios

Insights into perception inaccuracies affecting safety

First assessment of V2I communication at intersections

Abstract

This paper presents a 1/10th scale mini-city platform used as a testing bed for evaluating autonomous and connected vehicles. Using the mini-city platform, we can evaluate different driving scenarios including human-driven and autonomous driving. We provide a unique, visual feature-rich environment for evaluating computer vision methods. The conducted experiments utilize onboard sensors mounted on a robotic platform we built, allowing them to navigate in a controlled real-world urban environment. The designed city is occupied by cars, stop signs, a variety of residential and business buildings, and complex intersections mimicking an urban area. Furthermore, We have designed an intelligent infrastructure at one of the intersections in the city which helps safer and more efficient navigation in the presence of multiple cars and pedestrians. We have used the mini-city platform for the analysis of three different applications: city mapping, depth estimation in challenging occluded environments, and smart infrastructure for connected vehicles. Our smart infrastructure is among the first to develop and evaluate Vehicle-to-Infrastructure (V2I) communication at intersections. The intersection-related result shows how inaccuracy in perception, including mapping and localization, can affect safety. The proposed mini-city platform can be considered as a baseline environment for developing research and education in intelligent transportation systems.