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ThinkMind // VEHICULAR 2020, The Ninth International Conference on Advances in Vehicular Systems, Technologies and Applications // View article vehicular_2020_1_80_30039


Revisiting Message Generation Strategies for Collective Perception in Connected and Automated Driving

Authors:
Quentin Delooz
Andreas Festag
Alexey Vinel

Keywords: V2X; vehicular communications; collective perception; message generation.

Abstract:
Collective perception enables vehicles to exchange pre-processed sensor data and is being standardized as a 2nd generation V2X communication service. The European standardization in ETSI foresees the exchange of detected objects and defined a dedicated message type (Collective Perception Message, CPM) with rules to decide when and with which objects the message should be generated, referred to as generation rules. The choice of these rules is not straightforward and influences both channel load and perception quality. For the object inclusion, ETSI currently follows a similar policy as for the generation of Cooperative Awareness Messages (CAM): The objects are filtered based on their dynamics. We regard this approach as conservative. The present paper revisits the generation rules for the CPM and applies two approaches for object inclusion to the CPM -- the conservative strategy of ETSI and a more 'greedy' strategy. We assess the performance by discrete-event simulations in a scenario representing a city with realistic vehicle densities and mobility patterns. The simulations take into account the effects imposed by decentralized congestion control. Considering that ETSI currently follows the conservative strategy, we conclude that the application of a greedy strategy improves the perception quality in low-density scenarios.

Pages: 46 to 52

Copyright: Copyright (c) IARIA, 2020

Publication date: October 18, 2020

Published in: conference

ISSN: 2327-2058

ISBN: 978-1-61208-795-5

Location: Porto, Portugal

Dates: from October 18, 2020 to October 22, 2020

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