Related papers: V2X-PC: Vehicle-to-everything Collaborative Percep…
Cellular Vehicle-to-everything (C-V2X) communication has been proposed in the 3rd Generation Partnership Project release 14 standard to address the latency and reliability requirements of cooperative safety applications. Such applications…
Cooperative perception systems play a vital role in enhancing the safety and efficiency of vehicular autonomy. Although recent studies have highlighted the efficacy of vehicle-to-everything (V2X) communication techniques in autonomous…
Stand-alone perception systems in autonomous driving suffer from limited sensing ranges and occlusions at extended distances, potentially resulting in catastrophic outcomes. To address this issue, collaborative perception is envisioned to…
Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…
Multi-agent collaborative perception (CP) is a promising paradigm for improving autonomous driving safety, particularly for vulnerable road users like pedestrians, via robust 3D perception. However, existing CP approaches often optimize for…
Employing Vehicle-to-Vehicle communication to enhance perception performance in self-driving technology has attracted considerable attention recently; however, the absence of a suitable open dataset for benchmarking algorithms has made it…
Perceiving the complex driving environment precisely is crucial to the safe operation of autonomous vehicles. With the tremendous advancement of deep learning and communication technology, Vehicle-to-Everything (V2X) collaboration has the…
This paper investigates distributed computing and cooperative control of connected and automated vehicles (CAVs) in ramp merging scenario under transportation cyber-physical system. Firstly, a centralized cooperative trajectory planning…
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…
Perception of the driving environment is critical for collision avoidance and route planning to ensure driving safety. Cooperative perception has been widely studied as an effective approach to addressing the shortcomings of single-vehicle…
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…
5G Vehicle-to-Everything (V2X) is a new technology developed by 3GPP to support inter-vehicle communication. In contrast to 4G V2X which allows only broadcast communication, 5G V2X enables groupcast and unicast communication. Such types of…
As a pivotal technology for autonomous driving, collaborative perception enables vehicular agents to exchange perceptual data through vehicle-to-everything (V2X) communications, thereby enhancing perception accuracy of all collaborators.…
Semantic Scene Completion (SSC) aims to jointly generate space occupancies and semantic labels for complex 3D scenes. Most existing SSC models focus on volumetric representations, which are memory-inefficient for large outdoor spaces. Point…
Scalable communication is of utmost importance for reliable dissemination of time-sensitive information in cooperative vehicular ad-hoc networks (VANETs), which is, in turn, an essential prerequisite for the proper operation of the critical…
Existing data collection methods for traffic operations and control usually rely on infrastructure-based loop detectors or probe vehicle trajectories. Connected and automated vehicles (CAVs) not only can report data about themselves but…
Connected and Automated Vehicles use sensors and wireless communication to improve road safety and efficiency. However, attackers may target Vehicle-to-Everything communication. Indeed, an attacker may send authenticated but wrong data to…
To ensure safe operation of autonomous vehicles in complex urban environments, complete perception of the environment is necessary. However, due to environmental conditions, sensor limitations, and occlusions, this is not always possible…
The ability to perceive and comprehend a traffic situation and to estimate the state of the vehicles and road-users in the surrounding of the ego-vehicle is known as situational awareness. Situational awareness for a heavy-duty autonomous…
Cooperative perception (CP) is attracting increasing attention and is regarded as the core foundation to support cooperative driving automation, a potential key solution to addressing the safety, mobility, and sustainability issues of…