This paper is on a pedestrian collision avoidance system for low speed autonomous shuttles based on Vehicle-to-Pedestrian (V2P) communication. When pedestrians cannot be detected using line-of-sight sensors like camera, radar and LIDAR, V2P communication with the Dedicated Short Range Communication (DSRC) enabled pedestrian smartphone is used to detect and localize them through the in-vehicle DSRC radio used for Vehicle-to-Everything (V2X) communication. The vehicle, then, either stops or, if possible, goes around the pedestrian in a socially acceptable manner using the elastic band method for locally modifying the vehicle trajectory in real time. The elastic band method of collision avoidance is modified for fast real time execution in this paper. Along with model-in-the-loop simulations, a hardware-in-the-loop simulator using an automated driving vehicle model in the high fidelity vehicle dynamics simulation program Carsim Real Time with Sensors and Traffic with two DSRC modems emulating the vehicle and pedestrian communications is introduced and used in this paper as a prerequisite to real world experiments. Both stationary and moving pedestrians are considered in the model and hardware-in-the-loop simulations. Two real world experiments are also presented to demonstrate the V2P based avoidance of crashes between low speed autonomous shuttles and pedestrians.

中文翻译：

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与行人的低速自动班车的碰撞避免

本文是基于车辆到行人（V2P）通信的低速自动班车的行人防撞系统。当无法使用摄像头，雷达和LIDAR等视线传感器检测到行人时，可使用具有启用了专用短程通信（DSRC）的V2P通信的行人智能手机通过用于车辆的车载DSRC无线电进行检测和定位到所有（V2X）通信。然后，车辆使用弹性带方法以社交可接受的方式停下来，或者在可能的情况下绕行人走动，以实时局部地修改车辆的轨迹。修改了避免碰撞的弹性带方法，以实现快速实时执行。连同在环模型仿真，本文介绍并使用了在高保真汽车动力学仿真程序中使用自动驾驶汽车模型的硬件在环仿真器，该软件使用带有两个传感器和交通的DSRC调制解调器模拟车辆和行人通讯的Carsim实时传感器和交通进行现实世界的实验。在模型和硬件在环仿真中均考虑了固定和移动行人。还提出了两个真实世界的实验，以演示基于V2P的避免低速自动班车与行人之间撞车的方法。在模型和硬件在环仿真中均考虑了固定和移动行人。还提出了两个真实世界的实验，以演示基于V2P的避免低速自动班车与行人之间撞车的方法。在模型和硬件在环仿真中均考虑了固定和移动行人。还提出了两个真实世界的实验，以演示基于V2P的避免低速自动班车与行人之间撞车的方法。