Enhancing Emergency Stop Safety using DDS-Based Vehicle External Communication

The advancement of autonomous driving technology is revolutionizing the automotive industry, enabling vehicles to navigate routes and control operations independently through sophisticated sensors and algorithms. However, to ensure successful autonomous operation, external communication is imperative alongside sensor capabilities. External communication enhances vehicle interaction with the environment, facilitating real-time understanding of road conditions and enabling swift responses to emergencies. This study implements communication between autonomous vehicles and external systems using ROS 2 and DDS, aiming to enable smooth responses in emergency situations. ROS 2, an open-source robot operating system, and DDS, a standard communication protocol, are utilized for their reliability and performance. Through experimentation and analysis of emergency scenarios, this study evaluates the system's performance, highlighting its enhanced capabilities and potential contributions to the reliability, safety, and efficiency of autonomous vehicles.