• English
  • Deutsch
  • Log In
    Password Login
    Research Outputs
    Fundings & Projects
    Researchers
    Institutes
    Statistics
Repository logo
Fraunhofer-Gesellschaft
  1. Home
  2. Fraunhofer-Gesellschaft
  3. Konferenzschrift
  4. Towards Realistic Evaluation of Collective Perception for Connected and Automated Driving
 
  • Details
  • Full
Options
2021
Conference Paper
Title

Towards Realistic Evaluation of Collective Perception for Connected and Automated Driving

Abstract
Collective perception in Vehicle-to-Everything (V2X) communications allows vehicles to exchange preprocessed sensor data with other traffic participants. It is currently standardized by ETSI as a second generation V2X communication service. The use of collective perception as a communication service for future fully autonomous driving requires a thorough evaluation and validation. Most of the previous work on collective perception has considered largescale-simulations with a focus on communications. However, the perception pipeline used for collective perception is equally important and must not be neglected or over-simplified. Also, to study collective perception in detail, large-scale field testing is practically infeasible. In this paper we extend an existing simulation framework with a realistic model for V2X communications and sensor-data based processing delays. The result is a simulation framework that incorporates the entire collective perception pipeline, which enables to comprehensively study sensor-based perception. We demonstrate the capabilities of this enhanced framework by analyzing the delay of each component involved in the perception pipeline. This allows a detailed insight in end-to-end delays and the age of information within the environmental model of autonomous vehicles.
Author(s)
Volk, Georg
Eberhard Karls Universität Tübingen
Delooz, Quentin
CARISSMA
Schiegg, Florian A.
Robert Bosch GmbH
Bernuth, Alexander von
Eberhard Karls Universität Tübingen
Festag, Andreas  
Fraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI  
Bringmann, Oliver
Eberhard Karls Universität Tübingen
Mainwork
24th IEEE International Conference on Intelligent Transportation Systems, ITSC 2021  
Conference
International Conference on Intelligent Transportation Systems (ITSC) 2021  
DOI
10.1109/ITSC48978.2021.9564783
Language
English
Fraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI  
Keyword(s)
  • V2X

  • sensor data

  • collective perception

  • autonomous driving

  • Cookie settings
  • Imprint
  • Privacy policy
  • Api
  • Contact
© 2024