Enhancing Vulnerable Road User Awareness of Intelligent Transport Systems Through Relay and Aggregation of Collective Perception Messages with Road Side Units

Vincent Wolff

2023

Abstract

The Collective Perception Service (CPS) allows connected vehicles to gain a more comprehensive picture of their environment by sharing information about the dynamic state of objects with other vehicles and infrastructure. Objects detected by on-board sensors are shared through Vehicle-to-Vehicle (V2V) or Vehicle-to-Infrastructure (V2I) communication. However, the range of V2V communication is limited, and Road Side Units (RSUs) can be deployed to enhance the range and attenuate the negative effects of V2V signal propagation. We enhance the vehicular network by RSUs to aggregate and forward Collective Perception Messages (CPMs) received from neighboring vehicles, thus improving the overall environmental perception and the perception of Vulnerable Road Users (VRUs) in particular. Our simulation results, based on the ETSI ITS-G5 standard, demonstrate the effectiveness of the CPS in an urban intersection scenario, showing the positive impact of additional V2I communication and the deployment of RSUs on vehicular perception of VRUs. The addition of RSUs results in a significant improvement in VRU perception, while packet loss on the network channel increases moderately.

Paper Citation

in Harvard Style

Wolff V. (2023). Enhancing Vulnerable Road User Awareness of Intelligent Transport Systems Through Relay and Aggregation of Collective Perception Messages with Road Side Units. In Proceedings of the 9th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-652-1, SciTePress, pages 337-343. DOI: 10.5220/0011973300003479

in Bibtex Style

@conference{vehits23,
author={Vincent Wolff},
title={Enhancing Vulnerable Road User Awareness of Intelligent Transport Systems Through Relay and Aggregation of Collective Perception Messages with Road Side Units},
booktitle={Proceedings of the 9th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2023},
pages={337-343},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011973300003479},
isbn={978-989-758-652-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 9th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Enhancing Vulnerable Road User Awareness of Intelligent Transport Systems Through Relay and Aggregation of Collective Perception Messages with Road Side Units
SN - 978-989-758-652-1
AU - Wolff V.
PY - 2023
SP - 337
EP - 343
DO - 10.5220/0011973300003479
PB - SciTePress