Analytical Performance Evaluation of the Collective Perception Service in IEEE 802.11p Networks

Self Cite

Vehicle-to-everything (V2X) communication is seen as one of the main enabling technologies for automated vehicles. Collective perception is especially promising, as it allows connected traffic participants to “see through the eyes of others” by sharing sensor-detected objects via V2X communication. Its benefit is typically assessed in terms of the increased object update rate, redundancy, and awareness. To determine the safety improvement thanks to collective perception, the authors introduce new metrics, which quantify the environmental risk awareness of the traffic participants. The performance of the V2X service is then analyzed with the help of the test platform TEPLITS, using real traffic traces from German highways, amounting to over 100 h of total driving time. The results in the considered scenarios clearly show that collective perception not only contributes to the accuracy and integrity of the vehicles’ environmental perception, but also that a V2X market penetration of at least 25% is necessary to increase traffic safety from a “risk of serious traffic accidents” to a “residual hypothetical risk of collisions without minor injuries” for traffic participants equipped with non-redundant 360° sensor systems. These results support the ongoing worldwide standardization efforts of the collective perception service.

Section: Evaluation Metricsmentioning

confidence: 99%

Section: Evaluation Metricsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Collective Perception: A Safety Perspective

Schiegg

Llátser

Bischoff³

et al. 2020

Self Cite

“…It is analysed in [ 27 ] the performance gain in extending horizon of CAVs by leveraging V2V based CP. The work in [ 33 , 34 ] analytically evaluates the enhancement of environmental perception for CVs at different CP service penetration rates and with different traffic densities. The authors of [ 35 ] discuss the security threats in CP and propose possible countermeasures in V2X network protocols, while the work in [ 36 ] focuses on using CP for detecting vehicle misbehaviour due to adversarial attacks in V2X communication.…”

Section: Related Workmentioning

confidence: 99%

Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle Operations

Shan

Narula

Wong³

et al. 2020

Cooperative perception, or collective perception (CP), is an emerging and promising technology for intelligent transportation systems (ITS). It enables an ITS station (ITS-S) to share its local perception information with others by means of vehicle-to-X (V2X) communication, thereby achieving improved efficiency and safety in road transportation. In this paper, we present our recent progress on the development of a connected and automated vehicle (CAV) and intelligent roadside unit (IRSU). The main contribution of the work lies in investigating and demonstrating the use of CP service within intelligent infrastructure to improve awareness of vulnerable road users (VRU) and thus safety for CAVs in various traffic scenarios. We demonstrate in experiments that a connected vehicle (CV) can “see” a pedestrian around the corners. More importantly, we demonstrate how CAVs can autonomously and safely interact with walking and running pedestrians, relying only on the CP information from the IRSU through vehicle-to-infrastructure (V2I) communication. This is one of the first demonstrations of urban vehicle automation using only CP information. We also address in the paper the handling of collective perception messages (CPMs) received from the IRSU, and passing them through a pipeline of CP information coordinate transformation with uncertainty, multiple road user tracking, and eventually path planning/decision-making within the CAV. The experimental results were obtained with manually driven CV, fully autonomous CAV, and an IRSU retrofitted with vision and laser sensors and a road user tracking system.

“…Object(track)-level approaches such as collective perception messages (CPMs) [ 5 , 6 ] have received the most attention from researchers and developers because of their suitability for deployment in cooperative ITS. The bandwidth consumption in CPM was analyzed in [ 11 , 12 ]. A few researchers have realized object-level cooperative perception with multiple infrastructure-based sensors and transmitters [ 13 , 14 ].…”

Section: State Of the Artmentioning

confidence: 99%

Networked Roadside Perception Units for Autonomous Driving

Tsukada

Kitazawa

et al. 2020

Vehicle-to-Everything (V2X) communication enhances the capability of autonomous driving through better safety, efficiency, and comfort. In particular, sensor data sharing, known as cooperative perception, is a crucial technique to accommodate vulnerable road users in a cooperative intelligent transport system (ITS). In this paper, we describe a roadside perception unit (RSPU) that combines sensors and roadside units (RSUs) for infrastructure-based cooperative perception. We propose a software called AutoC2X that we designed to realize cooperative perception for RSPUs and vehicles. We also propose the concept of networked RSPUs, which is the inter-connection of RSPUs along a road over a wired network, and helps realize broader cooperative perception. We evaluated the RSPU system and the networked RSPUs through a field test, numerical analysis, and simulation experiments. Field evaluation showed that, even in the worst case, our RSPU system can deliver messages to an autonomous vehicle within 100 ms. The simulation result shows that the proposed priority algorithm achieves a wide perception range with a high delivery ratio and low latency, especially under heavy road traffic conditions.