Demo: Infrastructure Assisted Efficient Collective Perception Service for Connected Vehicles

被引：4

作者：

Merwaday, Arvind ^{[1
]}

Jha, Satish C. ^{[1
]}

Sivanesan, Kathiravetpillai ^{[1
]}

Alvarez, Ignacio J. ^{[1
]}

Baltar, Leonardo Gomes ^{[1
]}

Banjade, Vesh Raj Sharma ^{[1
]}

Sehra, Suman A. ^{[1
]}

机构：

[1] Intel Corp, Santa Clara, CA 95051 USA

来源：

2021 IEEE VEHICULAR NETWORKING CONFERENCE (VNC) | 2021年

关键词：

collective perception service; connected vehicles; CPM; CPS; C-V2X; layered costmap; infrastructure assisted CPS; perception sharing; road occupancy grid; V2V; V2X communication;

D O I：

10.1109/VNC52810.2021.9644671

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

Collective Perception Services (CPS) provided by roadside infrastructure is a promising way to extend the environment perception range of vehicles beyond their embedded sensors. However, sharing the perceived lists of objects can result in unacceptably high communication overhead, when the number of objects is large. We propose a Layered Costmap based novel perception sharing protocol to enable an overhead-efficient CPS, specifically in cases with many objects, such as crowded intersections. We demonstrate a CARLA-based collaborative autonomous vehicle simulation platform with realistic vehicular communications model, and evaluate costmap-based and object-list-based CPS in a T-junction scenario. Simulation results show that CPS from roadside infrastructure can significantly increase the perception coverage by 2.2x for T-junction scenario compared to on-board sensors' perception. Moreover, layered costmap-based CPS outperforms object list-based CPS in efficiency enabling more than one order of magnitude overhead reduction for 40 or higher perceived objects.

引用

页码：119 / 120

页数：2