Analysis of Message Generation Rules for Collective Perception in Connected and Automated Driving

Abstract

Collective Perception (CP) or cooperative sensing enables vehicles and infrastructure nodes to exchange sensor information to improve their perception of the driving environment. CP enables vehicles to detect objects (e.g. non-connected vehicles, pedestrians, obstacles, etc.) beyond their local sensing capabilities. ETSI is currently developing the European standards for collective perception or cooperative sensing. This includes defining which information should be exchanged about the detected objects, and how often it should be exchanged. To this aim, different CP generation rules for collective perception are currently under analysis, and this paper presents an in-depth analysis of their performance and efficiency. The conducted analysis highlights the existing trade-offs between performance (capacity to detect surrounding objects) and efficiency (redundant detection and transmission of the same detected objects). It also demonstrates the need to design advanced policies that dynamically control the redundancy on the wireless channel while ensuring the capacity to reliably detect the driving environment.