Related papers: SRA-CP: Spontaneous Risk-Aware Selective Cooperati…
Vehicle-to-Everything (V2X) communication has been proposed as a potential solution to improve the robustness and safety of autonomous vehicles by improving coordination and removing the barrier of non-line-of-sight sensing. Cooperative…
Cooperative perception, offering a wider field of view than standalone perception, is becoming increasingly crucial in autonomous driving. This perception is enabled through vehicle-to-vehicle (V2V) communication, allowing connected…
Collaborative Perception (CP) is a process in which an ego agent receives and fuses sensor information from surrounding vehicles and infrastructure to enhance its perception capability. To evaluate the need for infrastructure equipped with…
In this paper, we introduce the notion of Cooperative Perception Error Models (coPEMs) towards achieving an effective and efficient integration of V2X solutions within a virtual test environment. We focus our analysis on the occlusion…
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…
This paper offers a technique for estimating collision risk for automated ground vehicles engaged in cooperative sensing. The technique allows quantification of (i) risk reduced due to cooperation, and (ii) the increased accuracy of risk…
Connected vehicle (CV) technology is among the most heavily researched areas in both the academia and industry. The vehicle to vehicle (V2V), vehicle to infrastructure (V2I) and vehicle to pedestrian (V2P) communication capabilities enable…
Collaborative perception has garnered significant attention as a crucial technology to overcome the perceptual limitations of single-agent systems. Many state-of-the-art (SOTA) methods have achieved communication efficiency and high…
This paper investigates the impact of cooperative perception on autonomous driving decision making on urban roads. The extended perception range contributed by the cooperative perception can be properly leveraged to address the implicit…
Achieving fully autonomous driving with enhanced safety and efficiency relies on vehicle-to-everything cooperative perception, which enables vehicles to share perception data, thereby enhancing situational awareness and overcoming the…
Cooperative perception is critical for autonomous driving, overcoming the inherent limitations of a single vehicle, such as occlusions and constrained fields-of-view. However, current approaches sharing dense Bird's-Eye-View (BEV) features…
In future intelligent transportation systems, autonomous cooperative planning (ACP), becomes a promising technique to increase the effectiveness and security of multi-vehicle interactions. However, multiple uncertainties cannot be fully…
Human-vehicle cooperative driving has become the critical technology of autonomous driving, which reduces the workload of human drivers. However, the complex and uncertain road environments bring great challenges to the visual perception of…
Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…
Cooperative adaptive cruise control(CACC) system provides a great promise to significantly reduce traffic congestion while maintaining a high level of safety. Recent years have seen an increase of using formal methods in the analysis and…
Cooperative perception allows a Connected Autonomous Vehicle (CAV) to interact with the other CAVs in the vicinity to enhance perception of surrounding objects to increase safety and reliability. It can compensate for the limitations of the…
Collaborative perception (CP) enables connected and autonomous vehicles to share sensor data and jointly reason about their environment. To defend against adversaries that fabricate or manipulate shared data, existing systems employ…
Sensing and Perception (S&P) is a crucial component of an autonomous system (such as a robot), especially when deployed in highly dynamic environments where it is required to react to unexpected situations. This is particularly true in case…
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)…
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…