Cooperative perception, using vehicle-to-everything (V2X) technologies for perceptual data sharing between autonomous vehicles (AVs) and intelligent infrastructure, is considered a solution to many single-agent perception challenges. Early fusion, a data fusion scheme for the cooperative perception of AVs, provides a universally available data-sharing approach but has been criticized for its huge bandwidth consumption. This paper proposes a safety field (SF)-based vehicle-infrastructure cooperative perception approach by quantifying the driving risk in complex traffic scenarios. Leveraging the SF theory and point cloud downsampling, we design a delay-aware early fusion framework with adaptive communication volume control. We propose a latency-compensation error (LCE) for performance evaluation considering data transmission delay. The proposed framework is tested and verified in simulated city environments and simulated and real-world datasets. The experimental results show that the proposed approach increases the average precision (AP) and reduces the LCE compared with base models within a limited communication budget.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Safety Field-Based Vehicle-Infrastructure Cooperative Perception for Autonomous Driving Using 3D Point Clouds


    Beteiligte:
    Zhao, Cong (Autor:in) / Ding, Delong (Autor:in) / Lei, Cailin (Autor:in) / Wang, Shiyu (Autor:in) / Ji, Yuxiong (Autor:in) / Du, Yuchuan (Autor:in)


    Erscheinungsdatum :

    01.04.2025


    Format / Umfang :

    4022773 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Clouds

    Chen, Qi / Tang, Sihai / Yang, Qing et al. | ArXiv | 2019

    Freier Zugriff

    Enhancing Transportation Safety with Infrastructure Cooperative Autonomous Driving System

    Noh, Jinhong / Jo, Yongwoo / Kim, Jooyoung et al. | Springer Verlag | 2024


    Enhancing Transportation Safety with Infrastructure Cooperative Autonomous Driving System

    Noh, Jinhong / Jo, Yongwoo / Kim, Jooyoung et al. | Springer Verlag | 2024


    SMART ROAD INFRASTRUCTURE FOR VEHICLE SAFETY AND AUTONOMOUS DRIVING

    FERMON ISRAEL | Europäisches Patentamt | 2022

    Freier Zugriff

    SMART ROAD INFRASTRUCTURE FOR VEHICLE SAFETY AND AUTONOMOUS DRIVING

    FERMON ISRAEL | Europäisches Patentamt | 2020

    Freier Zugriff