Generation of Cooperative Perception Messages for Connected and Automated Vehicles
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Cooperative or collective perception (or sensing) enables connected and automated vehicles to exchange sensor information to improve their perception of the driving environment. Standards are currently being developed by ETSI to define collective perception message formats and generation rules. These generation rules establish when collective perception messages should be generated and transmitted. This study shows that current collective perception message generation rules generate a high number of messages with information about a small number of detected vehicles. This results in an inefficient utilization of the communication channel that reduces the effectiveness of collective perception. This study proposes a novel algorithm that modifies how the information of detected vehicles is organized in collective perception messages. The proposed algorithm improves the V2X (Vehicle to Everything) reliability and the perception compared to current ETSI solutions for collective perception or cooperative sensing.
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