Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Roadside-assisted Cooperative Planning using Future Path Sharing for
  Autonomous Driving   Cooperative intelligent transportation systems (ITS) are used by autonomous
vehicles to communicate with surrounding autonomous vehicles and roadside units
(RSU). Current C-ITS applications focus primarily on real-time information
sharing, such as cooperative perception. In addition to real-time information
sharing, self-driving cars need to coordinate their action plans to achieve
higher safety and efficiency. For this reason, this study defines a vehicle's
future action plan/path and designs a cooperative path-planning model at
intersections using future path sharing based on the future path information of
multiple vehicles. The notion is that when the RSU detects a potential conflict
of vehicle paths or an acceleration opportunity according to the shared future
paths, it will generate a coordinated path update that adjusts the speeds of
the vehicles. We implemented the proposed method using the open-source Autoware
autonomous driving software and evaluated it with the LGSVL autonomous vehicle
simulator. We conducted simulation experiments with two vehicles at a blind
intersection scenario, finding that each car can travel safely and more
efficiently by planning a path that reflects the action plans of all vehicles
involved. The time consumed by introducing the RSU is 23.0 % and 28.1 % shorter
than that of the stand-alone autonomous driving case at the intersection.

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The categories of this paper are: q-fin
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The categories of this paper are: chao-dyn
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The categories of this paper are: quant-ph
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The categories of this paper are: hep-ex
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The categories of this paper are: solv-int
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The categories of this paper are: eess
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The categories of this paper are: comp-gas
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The categories of this paper are: q-bio
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The categories of this paper are: alg-geom
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The categories of this paper are: math
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The categories of this paper are: patt-sol
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The categories of this paper are: supr-con
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The categories of this paper are: gr-qc
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The categories of this paper are: cmp-lg
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The categories of this paper are: nucl-th
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The categories of this paper are: dg-ga