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    Modeling and TOPSIS-GRA Algorithm for Autonomous Driving Decision-Making Under 5G-V2X Infrastructure

    Shijun Fu1,*, Hongji Fu2

    CMC-Computers, Materials & Continua, Vol.75, No.1, pp. 1051-1071, 2023, DOI:10.32604/cmc.2023.034495

    Abstract This paper is to explore the problems of intelligent connected vehicles (ICVs) autonomous driving decision-making under a 5G-V2X structured road environment. Through literature review and interviews with autonomous driving practitioners, this paper firstly puts forward a logical framework for designing a cerebrum-like autonomous driving system. Secondly, situated on this framework, it builds a hierarchical finite state machine (HFSM) model as well as a TOPSIS-GRA algorithm for making ICV autonomous driving decisions by employing a data fusion approach between the entropy weight method (EWM) and analytic hierarchy process method (AHP) and by employing a model fusion… More >

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