Real-Time Vehicle-to-Vehicle Communication-Based Network Cooperative Control System Through Distributed Database and Multimodal Perception: Demonstrated in Crossroads

In the evolving landscape of the autonomous driving industry, the integration of Vehicle-to-Vehicle (V2V) communication systems has been a pivotal component in enhancing road safety and efficiency . This paper introduces a novel Real-time Vehicle-to-Vehicle Communication-Based Network Cooperative Control System (VVCCS), designed to revolutionize macroscope traffic planning and collision avoidance in autonomous driving. Implemented on Quanser Car (Qcar) hardware platform, our system integrates the distributed databases into individual autonomous vehicles and an optional central server. We also developed a comprehensive multi-modal perception system with multi-object tracking and radar sensing. Through a demonstration within a physical crossroad environment, our system showcases its potential to be applied in congested and complex urban environments. The implementations are open-sourced at https://github.com/Essoz/Distributed-Intersection-Traffic-Coordination-With-Lease .