The Effect of Decentralized Congestion Control on Collective Perception in Dense Traffic Scenarios

In conjunction with automated vehicles, Inter-Vehicle Communication represents the next 'big thing' towards the vision of cooperative driving, where road participants share information about their planned behaviour and where hazardous situations are solved or avoided jointly. One prerequisite to fulfill this long-term goal is a common information base, where all road participants are fully aware of each other. The idea of collective perception contributes to this information base by sharing local sensor data with other road users. Whereas most related work focuses on the aspects of sensor data fusion, we focus on the implications of an ETSI ITS G5 based network for collective perception. We present and analyse different message formats and dissemination variants for sharing sensor data. Their usability is validated in two extensive microscopic simulation studies with different traffic densities and up to several hundred concurrent vehicles. In particular, implications caused by standardised Decentralized Congestion Control are assessed in a controlled environment.