Hegde, AnupamaAnupamaHegdeDelooz, QuentinQuentinDeloozMariyaklla, Chethan LokeshChethan LokeshMariyakllaFestag, AndreasAndreasFestagKlingler, FlorianFlorianKlingler2023-09-012023-09-012023https://publica.fraunhofer.de/handle/publica/44911210.1109/WCNC55385.2023.101186062-s2.0-85159784271Sensor data sharing has an immense potential to enhance the perception capabilities of vehicles and to provide better situational awareness. It is being standardized as collective perception by the European Telecommunication Standards Institute (ETSI) as part of Cooperative Intelligent Transport Systems (C-ITS). For the transmission of collective perception messages via sidelink in Cellular-V2X, sensing-based semi-persistent scheduling (SB-SPS) in the unmanaged mode of 5G-NR V2X provides low-latency communication among road traffic participants that are located outside the cellular network coverage. The unpredictability of the collective perception messages in periodicity and size poses certain challenges on the SB-SPS, thereby creating poor utilization of radio resources and high risk of resource collisions. Existing system level simulations study the performance of collective perception from the application perspective without addressing the radio resource allocation at the access layer. This work investigates the challenges of the sidelink resource allocation mechanisms in 5G-NR V2X and assesses the impact of the mechanism on the performance of collective perception by simulation in a realistic urban traffic environment. A practical approach is adopted to formulate mathematical models that can characterize the radio resource utilization and resource collisions arising in such environments and yield the appropriate 5G-NR V2X parameters.enCellular V2Xcollective perceptionradio resource allocationschedulingconference paper