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 limited bandwidth of vehicular communications restricts its application. In this work, we propose a BEV feature-based CP network architecture for infrastructure-assisted AVP systems. The model takes the roadside camera and LiDAR as optional inputs and adaptively fuses them with onboard sensors in a unified BEV representation. Autoencoder and downsampling are applied for channel-wise and spatial-wise dimension reduction, while sparsification and quantization further compress the feature map with little loss in data precision. Combining these techniques, the size of a BEV feature map is effectively compressed to fit in the feasible data rate of the NR-V2X network. With the synthetic AVP dataset, we observe that CP can effectively increase perception performance, especially for pedestrians. Moreover, the advantage of infrastructure-assisted CP is demonstrated in two typical safety-critical scenarios in the AVP setting, increasing the maximum safe cruising speed by up to 3m/s in both scenarios.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Infrastructure-Assisted Collaborative Perception in Automated Valet Parking: A Safety Perspective


    Beteiligte:
    Jia, Yukuan (Autor:in) / Zhang, Jiawen (Autor:in) / Lu, Shimeng (Autor:in) / Fan, Baokang (Autor:in) / Mao, Ruiqing (Autor:in) / Zhou, Sheng (Autor:in) / Niu, Zhisheng (Autor:in)


    Erscheinungsdatum :

    24.06.2024


    Format / Umfang :

    3532674 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    AUTOMATED VALET PARKING METHOD AND AUTOMATED VALET PARKING SYSTEM

    NAKAGAWA TAKUYA / KOSUGE FUMIO / IKEDA MASAO | Europäisches Patentamt | 2022

    Freier Zugriff

    AUTOMATED VALET PARKING METHOD AND AUTOMATED VALET PARKING SYSTEM

    NAKAGAWA TAKUYA / KOSUGE FUMIO / IKEDA MASAO | Europäisches Patentamt | 2024

    Freier Zugriff

    VEHICLE, AUTOMATED VALET PARKING SYSTEM, AND AUTOMATED VALET PARKING METHOD

    MARUIWA NOBUTSUGU / SUGANO TATSUYA | Europäisches Patentamt | 2023

    Freier Zugriff

    System and method supporting automated valet parking and infrastructure and vehicle used for automated valet parking

    YOON SUNG WON / CHOI JIN HYUK / YOO KYUNG HO | Europäisches Patentamt | 2020

    Freier Zugriff

    Vehicle, automated valet parking system, and automated valet parking method

    MARUIWA NOBUTSUGU / SUGANO TATSUYA | Europäisches Patentamt | 2025

    Freier Zugriff