HawkRover: An Autonomous mmWave Vehicular Communication Testbed with Multi-sensor Fusion and Deep Learning

• Published in: arXiv.org
• Main Authors: Zhu, Ethan, Sun, Haijian, Ji, Mingyue
• Format: Paper Journal Article
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 04.01.2024
• Subjects: Automation; Computer Science - Computer Vision and Pattern Recognition; Computer Science - Information Theory; Data integration; Lidar; Mathematics - Information Theory; Millimeter waves; Mobility management; Multisensor fusion; Sensors; Signal processing; Test stands
• ISSN: 2331-8422
• DOI: 10.48550/arxiv.2401.01822

Connected and automated vehicles (CAVs) have become a transformative technology that can change our daily life. Currently, millimeter-wave (mmWave) bands are identified as the promising CAV connectivity solution. While it can provide high data rate, their realization faces many challenges such as high attenuation during mmWave signal propagation and mobility management. Existing solution has to initiate pilot signal to measure channel information, then apply signal processing to calculate the best narrow beam towards the receiver end to guarantee sufficient signal power. This process takes significant overhead and time, hence not suitable for vehicles. In this study, we propose an autonomous and low-cost testbed to collect extensive co-located mmWave signal and other sensors data such as LiDAR (Light Detection and Ranging), cameras, ultrasonic, etc, traditionally for ``automated'', to facilitate mmWave vehicular communications. Intuitively, these sensors can build a 3D map around the vehicle and signal propagation path can be estimated, eliminating iterative the process via pilot signals. This multimodal data fusion, together with AI, is expected to bring significant advances in ``connected'' research.