2026-04-20T19:34:42Z https://ipsj.ixsq.nii.ac.jp/oai

oai:ipsj.ixsq.nii.ac.jp:00220449 2025-01-19T14:34:04Z 6164:6165:7006:11034

Vehicle Trajectory Data Reduction in Maneuver Coordination Message by Polynomial Approximation 國部, 匡志 重野 寛 Masashi, Kunibe Hiroshi, Shigeno manuever cordination, trajectory data reduction In this paper, we propose the vehicle trajectory data reduction in Maneuver Coordination Messages (MCMs) by polynomial approximation. For the traffic safety and efficiency, it is assumed that Connected and Automated Vehicles (CAVs) exchange their planned trajectories and desired trajectories among them with MCMs by vehicle-to-everything transmission. However, the size of MCM becomes large as the number of waypoints in the trajectory increases. Therefore, the MCM transmission has the potential to cause wireless congestion. To mitigate the wireless congestion, in the proposed method, the CAVs reduce the MCM size by approximating their trajectories by polynomials. Specifically, they include the polynomial coefficients into MCMs instead of their trajectories. They approximate their trajectories by the polynomial approximation such that the position errors between the original trajectories and approximated ones become less than the acceptable error. In the simulation, we have evaluated the MCM size by changing the trajectory length, number of polynomial coefficients, and vehicle heading based on the kinematic bicycle model. The simulation result shows that the proposed method reduces the MCM size by 59.47% compared with the original MCM size even when the trajectory is frequently curved. conference paper 情報処理学会 2022-10-17 application/pdf 第30回マルチメディア通信と分散処理ワークショップ論文集 119 125 https://ipsj.ixsq.nii.ac.jp/record/220449/files/IPSJ-DPSWS2022017.pdf eng