Analytical Performance Evaluation of the Collective Perception Service in C-V2X Mode 4 Networks

Abstract

One of the major challenges on the way towards full traffic automation is the incomplete environmental awareness of the traffic participants. The most promising approach to overcome the physical performance limitations due to the restricted range of current vehicle on-board sensors such as cameras, LIDARs and radars is to extend the vehicle’s perception using vehicle-to-everything (V2X) communication. It allows traffic participants to share information gathered by their sensors among each other. This application of V2X-communication is commonly referred to as collective perception and will be mainly supported in Europe by the collective perception service currently under standardization at the European Telecommunications Standards Institute (ETSI). This paper is the first to analytically evaluate the performance of the service when operated using the ad hoc mode of cellular V2X, known as Mode 4, as defined by the 3GPP in Release 14 and aims at supporting the ongoing standardization efforts. To this end, several performance metrics are investigated on the example of a highway scenario under varying conditions and the usability of the LTE-V based service for two vehicle safety applications is discussed.