This paper presents and evaluates a unified cooperative perception framework that employs vehicle-to-vehicle (V2V) connectivity. At the core of the framework is a decentralized data association and fusion process that is scalable with respect to participation variances. The evaluation considers the effects of the communication losses in the ad-hoc V2V network and the random vehicle motions in traffic by adopting existing models along with a simplified algorithm for individual vehicle’s on-board sensor field of view. Furthermore, a multi-target perception metric is adopted to evaluate both the errors in the estimation of the motion states of vehicles in the surrounding traffic and the cardinality of the fused estimates at each participating node/vehicle. The extensive analysis results demonstrate that the proposed approach minimizes the perception metric for a much larger percentage of the participating vehicles than a baseline approach, even at modest participation rates, and that there are diminishing returns in these benefits. The computational and data traffic trade-offs are also analyzed.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Performance of Decentralized Cooperative Perception in V2V Connected Traffic


    Contributors:


    Publication date :

    2022-07-01


    Size :

    2400438 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    TRAFFIC RECONSTRUCTION VIA COOPERATIVE PERCEPTION

    AVEDISOV SERGEI / ALTINTAS ONUR | European Patent Office | 2021

    Free access

    Cooperative Perception in Connected Vehicle Traffic under Field-of-View and Participation Variations

    Yoon, DoHyun Daniel / Ali, G. G. Md. Nawaz / Ayalew, Beshah | IEEE | 2019


    Decentralized arterial traffic signal optimization with connected vehicle information

    Liang, Xiao (Joyce) / Guler, S. Ilgin / Gayah, Vikash V. | Taylor & Francis Verlag | 2023


    Cooperative sensor technology and cooperative perception - Heading towards holistic traffic

    Rasshofer, R. / Klanner, F. / Reinisch, P. et al. | British Library Conference Proceedings | 2011