Connected vehicle (CV) technology is among the most heavily researched areas in both the academia and industry. The vehicle to vehicle (V2V), vehicle to infrastructure (V2I) and vehicle to pedestrian (V2P) communication capabilities enable critical situational awareness. In some cases, these vehicle communication safety capabilities can overcome the shortcomings of other sensor safety capabilities because of external conditions such as 'No Line of Sight' (NLOS) or very harsh weather conditions. Connected vehicles will help cities and states reduce traffic congestion, improve fuel efficiency and improve the safety of the vehicles and pedestrians. On the road, cars will be able to communicate with one another, automatically transmitting data such as speed, position, and direction, and send alerts to each other if a crash seems imminent. The main focus of this paper is the implementation of Cooperative Collision Avoidance (CCA) for connected vehicles. It leverages the Vehicle to Everything (V2X) communication technology to create a real-time implementable collision avoidance algorithm along with decision-making for a vehicle that communicates with other vehicles. Four distinct collision risk environments are simulated on a cost effective Connected Autonomous Vehicle (CAV) Hardware in the Loop (HIL) simulator to test the overall algorithm in real-time with real electronic control and communication hardware.

翻译：车联网（CV）技术是学术界与工业界研究最为密集的领域之一。车辆间（V2V）、车辆与基础设施间（V2I）以及车辆与行人间（V2P）的通信能力提供了至关重要的态势感知能力。在某些情况下，由于"非视距"（NLOS）或极端恶劣天气等外部条件，这些基于车辆通信的安全技术能够弥补其他传感器安全技术的不足。车联网将助力城市与州政府减少交通拥堵、提升燃油效率，并增强车辆与行人的安全性。道路上行驶的车辆之间可以相互通信，自动传输速度、位置和方向等数据，并在碰撞风险迫近时相互发送预警。本文的核心在于实现面向车联网的协同避撞（CCA）技术。该技术利用车用万物互联（V2X）通信，构建了一套可实时部署的避撞算法，并赋予车辆与周围车辆通信时的自主决策能力。通过在低成本的车联网自动驾驶车辆（CAV）硬件在环（HIL）仿真平台上模拟四种不同的碰撞风险环境，本研究基于真实电子控制与通信硬件，对整体算法进行了实时测试验证。