Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle Operations
Cooperative perception, or collective perception (CP), is an emerging and promising technology for intelligent transportation systems (ITS). It enables an ITS station (ITS-S) to share its local perception information with others by means of vehicle-to-X (V2X) communication, thereby achieving improve...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/1/200 |
| _version_ | 1797543113944727552 |
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| author | Mao Shan Karan Narula Yung Fei Wong Stewart Worrall Malik Khan Paul Alexander Eduardo Nebot |
| author_facet | Mao Shan Karan Narula Yung Fei Wong Stewart Worrall Malik Khan Paul Alexander Eduardo Nebot |
| author_sort | Mao Shan |
| collection | DOAJ |
| description | Cooperative perception, or collective perception (CP), is an emerging and promising technology for intelligent transportation systems (ITS). It enables an ITS station (ITS-S) to share its local perception information with others by means of vehicle-to-X (V2X) communication, thereby achieving improved efficiency and safety in road transportation. In this paper, we present our recent progress on the development of a connected and automated vehicle (CAV) and intelligent roadside unit (IRSU). The main contribution of the work lies in investigating and demonstrating the use of CP service within intelligent infrastructure to improve awareness of vulnerable road users (VRU) and thus safety for CAVs in various traffic scenarios. We demonstrate in experiments that a connected vehicle (CV) can “see” a pedestrian around the corners. More importantly, we demonstrate how CAVs can autonomously and safely interact with walking and running pedestrians, relying only on the CP information from the IRSU through vehicle-to-infrastructure (V2I) communication. This is one of the first demonstrations of urban vehicle automation using only CP information. We also address in the paper the handling of collective perception messages (CPMs) received from the IRSU, and passing them through a pipeline of CP information coordinate transformation with uncertainty, multiple road user tracking, and eventually path planning/decision-making within the CAV. The experimental results were obtained with manually driven CV, fully autonomous CAV, and an IRSU retrofitted with vision and laser sensors and a road user tracking system. |
| first_indexed | 2024-03-10T13:40:06Z |
| format | Article |
| id | doaj.art-dadfcd08e06d4714bb44787e85d5f746 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T13:40:06Z |
| publishDate | 2020-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-dadfcd08e06d4714bb44787e85d5f7462023-11-21T03:08:55ZengMDPI AGSensors1424-82202020-12-0121120010.3390/s21010200Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle OperationsMao Shan0Karan Narula1Yung Fei Wong2Stewart Worrall3Malik Khan4Paul Alexander5Eduardo Nebot6Australian Centre for Field Robotics, The University of Sydney, Sydney, NSW 2006, AustraliaAustralian Centre for Field Robotics, The University of Sydney, Sydney, NSW 2006, AustraliaCohda Wireless, 27 Greenhill Road, Wayville, SA 5034, AustraliaAustralian Centre for Field Robotics, The University of Sydney, Sydney, NSW 2006, AustraliaCohda Wireless, 27 Greenhill Road, Wayville, SA 5034, AustraliaCohda Wireless, 27 Greenhill Road, Wayville, SA 5034, AustraliaAustralian Centre for Field Robotics, The University of Sydney, Sydney, NSW 2006, AustraliaCooperative perception, or collective perception (CP), is an emerging and promising technology for intelligent transportation systems (ITS). It enables an ITS station (ITS-S) to share its local perception information with others by means of vehicle-to-X (V2X) communication, thereby achieving improved efficiency and safety in road transportation. In this paper, we present our recent progress on the development of a connected and automated vehicle (CAV) and intelligent roadside unit (IRSU). The main contribution of the work lies in investigating and demonstrating the use of CP service within intelligent infrastructure to improve awareness of vulnerable road users (VRU) and thus safety for CAVs in various traffic scenarios. We demonstrate in experiments that a connected vehicle (CV) can “see” a pedestrian around the corners. More importantly, we demonstrate how CAVs can autonomously and safely interact with walking and running pedestrians, relying only on the CP information from the IRSU through vehicle-to-infrastructure (V2I) communication. This is one of the first demonstrations of urban vehicle automation using only CP information. We also address in the paper the handling of collective perception messages (CPMs) received from the IRSU, and passing them through a pipeline of CP information coordinate transformation with uncertainty, multiple road user tracking, and eventually path planning/decision-making within the CAV. The experimental results were obtained with manually driven CV, fully autonomous CAV, and an IRSU retrofitted with vision and laser sensors and a road user tracking system.https://www.mdpi.com/1424-8220/21/1/200collective perceptioncooperative perceptioncollective perception serviceV2X communicationintelligent roadside unitconnected and automated vehicle |
| spellingShingle | Mao Shan Karan Narula Yung Fei Wong Stewart Worrall Malik Khan Paul Alexander Eduardo Nebot Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle Operations Sensors collective perception cooperative perception collective perception service V2X communication intelligent roadside unit connected and automated vehicle |
| title | Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle Operations |
| title_full | Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle Operations |
| title_fullStr | Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle Operations |
| title_full_unstemmed | Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle Operations |
| title_short | Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle Operations |
| title_sort | demonstrations of cooperative perception safety and robustness in connected and automated vehicle operations |
| topic | collective perception cooperative perception collective perception service V2X communication intelligent roadside unit connected and automated vehicle |
| url | https://www.mdpi.com/1424-8220/21/1/200 |
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