An Autonomous Driving model with BEV-V2X Perception, Trajectory Prediction and Driving Planning in Complex Traffic Intersections

Ford Motor China Co.,ltd, Shanghai, 200082, China Abstract The comprehensiveness of vehicle-to-everything (V2X) recognition enriches and holistically shapes the global Birds-Eye-View (BEV) perception, incorporating rich semantics and integrating driving scene information, thereby serving features of trajectory prediction, decision-making and driving planning. Utilizing V2X message sets to form BEV format proves to be an effective perception method for connected and automated vehicles (CAVs). Specifically, MAP, SPAT and RSI data contributes to the achievement of road connectivity, synchronized traffic signal navigation and obstacle warning. Moreover, using time-sequential BSMs information from multiple vehicles allows for the perception of current state and the prediction of future trajectories. Therefore, this paper develops a comprehensive autonomous driving model that relies on BEV-V2X perception, Interacting Multiple model Unscented Kalman Filter (IMM-UKF)-based trajectory prediction, and deep reinforcement learning (DRL)-based decision making and planing. We establish a DRL environment with reward-shaping methods to formulate a unified set of optimal driving behaviors that encompass obstacle avoidance, lane changes, overtaking, turning maneuver, and synchronized traffic signal navigation. Consequently, a complex traffic intersection scenario was simulated, and the well-trained model was applied for driving control. The observed driving behavior closely resembled that of an experienced driver, exhibiting anticipatory actions and revealing notable operational highlights of driving policy. Ford Motor China Co.,ltd, Shanghai, 200082, China I. INTRODUCTION Cooperative Intelligent Transport Systems (C-ITS) based on vehicle-to-everything (V2X) communication has considerably developed in recent years, bringing us closer to utilizing V2X for autonomous driving and assistance guidance [1-2]. Due to the numerous substantial benefits provided by C-ITS, governmental authorities worldwide have initiated the allocation of dedicated spectrum for V2X technologies, on a license-exempt basis in the 5.9 GHz band for the cellular based Cellular-V2X (C-V2X) PC5 technology [3-4]. The characteristics of 5G technologies including enhanced Mobile Broadband (eMBB) and massive Machine Type Communications (mMTC) are pivotal in vehicular communications [5-6]. Furthermore, facilitating Ultra-Reliable and Low-Latency Communications (URLLC) of 5G is a fundamental element of advanced V2X applications [7-8].