A transmission protocol for fully automated valet parking using DSRC

Some of the most advanced functions in automated vehicles are in the parking domain, since it provides structured environments and slow speeds. As most parking garages deny GNSS reception, vehicles rely on dead reckoning or simple path-finding algorithms. To this regard, we have developed an infrastructure-based positioning system using cameras. In this paper, we present a novel approach on how to utilize dedicated short-range communication (often referred to as "Car-2-X communication" (C2X)) to transmit external positioning to vehicles with low latency. A session-based distributed state machine protocol for automated driving is used to ensure synchronicity between vehicle and infrastructure.