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Connected and Automated Vehicles (CAVs) utilize a variety of onboard sensors to sense their surrounding environment. CAVs can improve their perception capabilities if vehicles exchange information about what they sense using V2X…
Collective Perception will play a crucial role for ensuring vehicular safety in the near future, enabling the sharing of local perceived objects with other Intelligent Transport System Stations (ITS-Ss). However, at the beginning of the…
This paper provides an in-depth review and discussion of the state of the art in redundancy mitigation for the vehicular Collective Perception Service (CPS). We focus on the evolutionary differences between the redundancy mitigation rules…
Coordination recognition and subtle pattern prediction of future trajectories play a significant role when modeling interactive behaviors of multiple agents. Due to the essential property of uncertainty in the future evolution,…
The objective of the collaborative vehicle-to-everything perception task is to enhance the individual vehicle's perception capability through message communication among neighboring traffic agents. Previous methods focus on achieving…
Timely and reliable environment perception is fundamental to safe and efficient automated driving. However, the perception of standalone intelligence inevitably suffers from occlusions. A new paradigm, Cooperative Perception (CP), comes to…
Collaborative Perception (CP) has been a promising solution to address occlusions in the traffic environment by sharing sensor data among collaborative vehicles (CoV) via vehicle-to-everything (V2X) network. With limited wireless bandwidth,…
In the domain of intelligent transportation systems (ITS), collaborative perception has emerged as a promising approach to overcome the limitations of individual perception by enabling multiple agents to exchange information, thus enhancing…
This paper presents a comprehensive end-to-end evaluation of an infrastructure-assisted collective perception (ICP) system deployed on a highway using ITS-G5 technology. Open-road tests were conducted in the Bizkaia Connected Corridor…
Cooperative perception, or collective perception (CP) is an emerging and promising technology for intelligent transportation systems (ITS). It enables an ITS station (ITS-S) to share its local perception information with others by means of…
Recent reports from the World Health Organization highlight that Vulnerable Road Users (VRUs) have been involved in over half of the road fatalities in recent years, with occlusion risk - a scenario where VRUs are hidden from drivers' view…
The paper addresses the vehicle-to-X (V2X) data fusion for cooperative or collective perception (CP). This emerging and promising intelligent transportation systems (ITS) technology has enormous potential for improving efficiency and safety…
The reliability of current autonomous driving systems is often jeopardized in situations when the vehicle's field-of-view is limited by nearby occluding objects. To mitigate this problem, vehicle-to-vehicle communication to share sensor…
Cooperative perception is a promising technique for intelligent and connected vehicles through vehicle-to-everything (V2X) cooperation, provided that accurate pose information and relative pose transforms are available. Nevertheless,…
Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the…
Connected Autonomous Vehicles (CAVs) benefit from Vehicle-to-Everything (V2X) communication, which enables the exchange of sensor data to achieve Collaborative Perception (CP). To reduce cumulative errors in perception modules and mitigate…
To maintain high perception performance among connected and autonomous vehicles (CAVs), in this paper, we propose an accuracy-aware and resource-efficient raw-level cooperative sensing and computing scheme among CAVs and road-side…
Comprehensive perception of the environment is crucial for the safe operation of autonomous vehicles. However, the perception capabilities of autonomous vehicles are limited due to occlusions, limited sensor ranges, or environmental…
Decentralized vehicle-to-everything (V2X) networks (i.e., C-V2X Mode-4 and NR-V2X Mode-2) utilize sensing-based semi-persistent scheduling (SPS) where vehicles sense and reserve suitable radio resources for Basic Safety Message (BSM)…
In the early days of connected vehicles (CVs), data will be collected only from a limited number of CVs (i.e., low CV penetration rate) and not from other vehicles (i.e., non-connected vehicles). Moreover, the data loss rate in the wireless…