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Connected and autonomous vehicles (CAVs) have garnered significant attention due to their extended perception range and enhanced sensing coverage. To address challenges such as blind spots and obstructions, CAVs employ vehicle-to-vehicle…
Environmental perception in Automated Valet Parking (AVP) has been a challenging task due to severe occlusions in parking garages. Although Collaborative Perception (CP) can be applied to broaden the field of view of connected vehicles, the…
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…
To enlarge the perception range and reliability of individual autonomous vehicles, cooperative perception has been received much attention. However, considering the high volume of shared messages, limited bandwidth and computation resources…
Cooperative perception, leveraging shared information from multiple vehicles via vehicle-to-vehicle (V2V) communication, plays a vital role in autonomous driving to alleviate the limitation of single-vehicle perception. Existing works have…
Connected vehicles (CVs) can capture and transmit detailed data such as vehicle position and speed through vehicle-to-vehicle and vehicle-to-infrastructure communications. The wealth of CV data provides new opportunities to improve safety…
Cooperative perception has been widely used in autonomous driving to alleviate the inherent limitation of single automated vehicle perception. To enable cooperation, vehicle-to-vehicle (V2V) communication plays an indispensable role. This…
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…
Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…
Sharing perceptual data with other vehicles enhances the traffic safety of autonomous vehicles because it helps vehicles locate other vehicles and pedestrians in their blind spots. Such safety applications require high throughput and short…
Cooperative perception, which has a broader perception field than single-vehicle perception, has played an increasingly important role in autonomous driving to conduct 3D object detection. Through vehicle-to-vehicle (V2V) communication…
Occlusion is a major challenge for LiDAR-based object detection methods. This challenge becomes safety-critical in urban traffic where the ego vehicle must have reliable object detection to avoid collision while its field of view is…
Connected vehicles (CVs) can capture and transmit detailed data through vehicle-to-vehicle and vehicle-to-infrastructure communications, which bring new opportunities to improve the safety, mobility, and sustainability of transportation…
Anomaly detection is a critical requirement for ensuring safety in autonomous driving. In this work, we leverage Cooperative Perception to share information across nearby vehicles, enabling more accurate identification and consensus of…
Collaborative Perception (CP) has shown a promising technique for autonomous driving, where multiple connected and autonomous vehicles (CAVs) share their perception information to enhance the overall perception performance and expand 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…
Cooperative perception is challenging for safety-critical autonomous driving applications.The errors in the shared position and pose cause an inaccurate relative transform estimation and disrupt the robust mapping of the Ego vehicle. We…
Cooperative perception (CP) offers significant potential to overcome the limitations of single-vehicle sensing by enabling information sharing among connected vehicles (CVs). However, existing generic CP approaches need to transmit large…
In this study, we explore an innovative approach to enhance cooperative driving in vehicle platooning systems through the use of vehicle-to-everything (V2X) communication technologies. As Connected and Autonomous Vehicles (CAVs) integrate…
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,…