The development and testing of real-time perception capabilities is crucial to fully realize the potential of connected and automated driving. This study presents a comprehensive analysis of end-to-end delay and object detection quality for distributed perception. We investigate object detection from camera images in two distinct scenarios: local and cloud processing. In the local scenario, objects are detected using only on-board hardware. The results are then used to generate Cooperative Perception Messages (CPM), which are broadcast to nearby vehicles via the ITS-G5 communication technology. In the cloud processing scenario, images are compressed using H.265 before being transmitted to the cloud via C-V2X, where objects are detected on more demanding hardware. The detection results are then transmitted to vehicles in the vicinity, enabling cooperative perception scenarios. This study evaluates real-time object detection systems in real-world conditions, and highlights the trade-offs between the end-to-end detection delay and quality. By leveraging emerging technologies such as ITS-G5 and C-V2X, our research provides crucial insights for the development of efficient perception systems in the connected driving ecosystem.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Cooperative Perception Using V2X Communications: An Experimental Study


    Contributors:


    Publication date :

    2024-10-07


    Size :

    2740791 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Value-Anticipating V2V Communications for Cooperative Perception

    Higuchi, Takamasa / Giordani, Marco / Zanella, Andrea et al. | IEEE | 2019


    VALUE-ANTICIPATING V2V COMMUNICATIONS FOR COOPERATIVE PERCEPTION

    Higuchi, Takamasa / Giordani, Marco / Zanella, Andrea et al. | British Library Conference Proceedings | 2019



    Multivehicle Cooperative Driving Using Cooperative Perception: Design and Experimental Validation

    Kim, Seong-Woo / Qin, Baoxing / Chong, Zhuang Jie et al. | IEEE | 2015


    Cooperative Perception System And Cooperative Perception Method

    LEE JUN HYUNG / KIM HYOUNG SOO / YANG IN CHUL | European Patent Office | 2024

    Free access