Data Redundancy Mitigation in V2X Based Collective Perceptions

Abstract

Collective perception is a new paradigm to extend the limited horizon of individual vehicles. Incorporating with the recent vehicle-2-x (V2X) technology, connected and autonomous vehicles (CAVs) can periodically share their sensory information, given that traffic management authorities and other road participants can benefit from these information enormously. Apart from the benefits, employing collective perception could result in a certain level of transmission redundancy, because the same object might fall in the visible region of multiple CAVs, hence wasting the already scarce network resources. In this paper, we analytically study the data redundancy issue in highway scenarios, showing that the redundant transmissions could result in heavy loads on the network under medium to dense traffic. We then propose a probabilistic data selection scheme to suppress redundant transmissions. The scheme allows CAVs adaptively adjust the transmission probability of each tracked objects based on the position, vehicular density and road geometry information. Simulation results confirm that our approach can reduce at most 60% communication overhead in the meanwhile maintain the system reliability at desired levels. INDEX TERMS Collective perception, connected and autonomous vehicles, V2X communications, data redundancy.

Collective Perception: A Safety Perspective

“…In the same way, other works have introduced new message dissemination rules with positive effects on the message’s transmission frequency and the number of shared objects. Most of these dissemination rules use both message size and frequency to evaluate the effect of the collective perception service on the communication channel [ 11 , 12 , 30 , 31 , 32 , 33 , 34 , 35 ].…”

Blockchain for Vehicular Internet of Things: Recent Advances and Open Issues

“…In [ 30 ], Ding et al discussed the use of kinematic information in the cooperative perception for the purpose of meeting the reliability and delay requirements. Huang et al [ 31 ] proposed a probabilistic approach to select sensor data in order to reduce the overhead for the cooperation without losing the accuracy. They proposed p-consistence, a data selection scheme, to make a tradeoff between communication overhead and system reliability.…”

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

“…The authors of [ 27 ] raise the concern of redundant data sharing in V2V based CP with the increase of CAV penetration rate. To tackle the redundant transmission issue, a probabilistic data selection approach is presented in [ 28 ]. The authors of [ 29 ] propose an adaptive CPM generation rule considering change in perceived object’s state, and the authors of [ 30 ] propose to employ object filtering schemes in CPM, to improve communication performance while minimising the detriment to perception quality.…”

“…A significant proportion of the existing work conducts the analyses of V2X communication and CP in simulated environments. For instance, the work in [ 27 , 28 ] is carried out in an open source microscopic road traffic simulation package SUMO (Simulation of Urban Mobility) [ 48 ]. Another commonly used network and mobility simulator is Veins (Vehicles in Network Simulation) [ 49 , 50 ], which integrates SUMO and a discrete-event simulator OMNeT++ (Open Modular Network Testbed in C++) [ 51 ] for modelling realistic communication patterns.…”