Off-Highway Collision Avoidance System Leveraging Cellular

Vehicle-to-Everything and Software-Defined Vehicle Architecture

The off-highway industry witnesses a vast growth in integrating new technologies

such as advance driver assistance systems (ADAS/ADS) and connectivity to the

vehicles. This is primarily due to the need for providing a safe operational

domain for the operators and other people. Having a full perception of the

vehicle’s surrounding can be challenging due to the unstructured nature of the

field of operation. This research proposes a novel collective perception system

that utilizes a C-V2X Roadside Unit (RSU)-based object detection system as well

as an onboard perception system. The vehicle uses the input from both systems to

maneuver the operational field safely. This article also explored implementing a

software-defined vehicle (SDV) architecture on an off-highway vehicle aiming to

consolidate the ADAS system hardware and enable over-the-air (OTA) software

update capability. Test results showed that FEV’s collective perception system

was able to provide the necessary nearby and non-line-of-sight detections to the

vehicle’s controls algorithms and the vehicle was able to navigate the

environment safely.