Cooperative perception that integrates sensing capabilities from both infrastructure and vehicle perception sensors can greatly benefit the transportation system with respect to safety and data acquisition. In this study, we conduct a preliminary evaluation of such a system by integrating a portable lidar-based infrastructure detection system (namely, Traffic Scanner [TScan]) with a Society of Automotive Engineers (SAE) Level 4 connected and automated vehicle (CAV). Vehicle-to-everything (V2X) communication devices are installed on both the TScan and the CAV to enable real-time message transmission of detection results in the form of SAE J2735 basic safety messages. We validate the concept using a case study, which aims at improving CAV situation awareness and protecting vulnerable road user (VRU) safety. Field testing results demonstrate the safety benefits of cooperative perception from infrastructure sensors in detecting occluded VRUs and helping CAVs to plan safer (i.e., higher post-encroachment time) and smoother (i.e., lower deceleration rates) trajectories.
Cooperative Perception System for Aiding Connected and Automated Vehicle Navigation and Improving Safety
Transportation Research Record: Journal of the Transportation Research Board
Transportation Research Record: Journal of the Transportation Research Board ; 2678 , 12 ; 1498-1510
2024-06-06
Article (Journal)
Electronic Resource
English
Cooperative UAV-navigation-aiding based on UGV vision systems
Tema Archive | 2010
|Taylor & Francis Verlag | 2024
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