Collective Perception: A Safety Perspective

Vehicle-to-everything (V2X) communication is seen as one of the main enabling technol-ogies for automated vehicles. Collective perception is especially promising, as it allows connected traffic participants to “see through the eyes of others” by sharing sensor-detected objects via V2X communication. Its benefit is typically assessed in terms of the increased object update rate, redun-dancy, and awareness. To determine the safety improvement thanks to collective perception, the authors introduce new metrics, which quantify the environmental risk awareness of the traffic par-ticipants. The performance of the V2X service is then analyzed with the help of the test platform TEPLITS, using real traffic traces from German highways, amounting to over 100 h of total driving time. The results in the considered scenarios clearly show that collective perception not only con-tributes to the accuracy and integrity of the vehicles’ environmental perception, but also that a V2X market penetration of at least 25% is necessary to increase traffic safety from a “risk of serious traffic accidents” to a “residual hypothetical risk of collisions without minor injuries” for traffic participants equipped with non-redundant 360° sensor systems. These results support the ongoing world-wide standardization efforts of the collective perception service

Design of an adaptive congestion control protocol for reliable vehicle safety communication

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Wake-up radio systems for cooperative-intelligent transport systems architecture

© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes,creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Cooperative-Intelligent Transport systems are new applications developed on top of communications between vehicles and between vehicles and fixed infrastructure. Their architecture envisages devices deployed along the routes and streets, transmitting and receiving different kind of messages belonging to different services. Quite often, these devices will be located in isolated places with very low number of vehicles passing nearby. Being in isolated places, these devices will require to be feed with rechargeable batteries and alternative power sources, the usage of which need to be very efficient. The fact of continuously transmitting messages whenever there is no vehicle to receive them demands a solution. In this paper, we propose to use a well-known saving power strategy already used in Internet of Things, the Wake-up Radio systems. As vehicular communications are based on IEEE 802.11 standard, we propose to use a Wake-up Radio system based on this standard as well, being thus no additional hardware needed for the wake-up transmitter. The paper analyses the feasibility of using this solution on several vehicular applications.Peer ReviewedPostprint (author's final draft

MAVEN Deliverable 6.4: Integration Final Report

This document presents the work that has been performed in WP6 after D6.3, and therefore focussing on the integration sprints 3-6. It describes which parts of the system are implemented and how they are put together. To do so, it builds upon the deliverables created so far, esp. D6.3 and all other deliverables of the underlying work packages 3, 4 and 5. Another important aspect for understanding the content of this deliverable is D2.1 [4] for the scenario definition of the whole MAVEN project, and the deliverables D6.1 [5] and D6.2 [6], which give an overview on the existing infrastructure and vehicles used in MAVEN

Infraestrutura de beira de estrada para apoio a sistemas cooperativos e inteligentes de transportes

The growing need of mobility along with the evolution of the automotive industry and the massification of the personal vehicle amplifies some of the road-related problems such as safety and traffic congestion. To mitigate such issues, the evolution towards cooperative communicating technologies and autonomous systems is considered a solution to overcome the human physical limitations and the limited perception horizon of on-board sensors. Short-range vehicular communications such as Vehicle-to-Vehicle or Vehicle-to-Infrastructure (ETSI ITS-G5) in conjunction with long-range cellular communications (LTE,5G) and standardized messages, emerge as viable solutions to amplify the benefits that standalone technologies can bring to the road environment, by covering a wide array of applications and use cases. In compliance with the standardization work from European Telecommunications Standards Institute (ETSI), this dissertation describes the implementation of the collective perception service in a real road infrastructure to assist the maneuvers of autonomous vehicles and provide information to a central road operator. This work is focused on building standardized collective perception messages (CPM) by retrieving information from traffic classification radars (installed in the PASMO project) for local dissemination using ETSI ITS-G5 radio technology and creating a redundant communication channel between the road infrastructure and a central traffic control centre, located at the Instituto de Telecomunicações - Aveiro, taking advantage of cellular, point-to-point radio links and optical fiber communications. The output of the messages are shown to the user by a mobile application. The service is further improved by building an algorithm for optimizing the message dissemination to improve channel efficiency in more demanding scenarios. The results of the experimental tests showed that the time delay between the production event of the collective perception message and the reception by other ITS stations is within the boundaries defined by ETSI standards. Moreover, the algorithm for message dissemination also shows to increase radio channel efficiency by limiting the number of objects disseminated by CPM messages. The collective perception service developed and the road infrastructure are therefore, a valuable asset to provide useful information for improving road safety and fostering the deployment of intelligent cooperative transportation systems.A crescente necessidade de mobilidade em paralelo com a evolução da indústria automóvel e com a massificação do uso de meios de transportes pessoais, têm vindo a amplificar alguns problemas dos transportes rodoviários, tais como a segurança e o congestionamento do tráfego. Para mitigar estas questões, a evolução das tecnologias de comunicação cooperativas e dos sistemas autónomos é vista como uma potencial solução para ultrapassar limitações dos condutores e do horizonte de perceção dos sensores veículares. Comunicações de curto alcance, tais como Veículo-a-Veículo ou Veículo-a-Infrastrutura (ETSI ITS-G5), em conjunto com comunicações móveis de longo alcance (LTE,5G) e mensagens padrão, emergem como soluções viáveis para amplificar todos os beneficios que tecnologias independentes podem trazer para o ambiente rodoviário, cobrindo um grande leque de aplicações e casos de uso da estrada. Em conformidade com o trabalho de padronização da European Telecommunications Standards Institute, esta dissertação descreve a implementação do serviço de perceção coletiva, numa infrastrutura rodoviária real, para suporte a manobras de veículos autónomos e para fornecer informações aos operadores de estradas. Este trabalho foca-se na construção de mensagens de perceção coletiva a partir de informação gerada por radares de classificação de tráfego (instalados no âmbito do projeto PASMO) para disseminação local usando a tecnologia rádio ETSI ITS-G5 e criando um canal de comunicação redundante entre a infraestrutura rodóviaria e um centro de controlo de tráfego localizado no Instituto de Telecomunicações - Aveiro, usando para isso: redes móveis, ligações rádio ponto a ponto e fibra ótica. O conteúdo destas messagens é mostrado ao utilizador através de uma aplicação móvel. O serviço é ainda melhorado, tendo-se para tal desenvolvido um algoritmo de otimização de disseminação das mensagens, tendo em vista melhorar a eficiência do canal de transmissão em cenários mais exigentes. Os resultados dos testes experimentais efetuados revelaram que o tempo de atraso entre o evento de produção de uma mensagem de perceção coletiva e a receção por outra estação ITS, usando comunicações ITS-G5, se encontra dentro dos limites definidos pelos padrões da ETSI. Além disso, o algoritmo para disseminação de mensagens também mostrou aumentar a eficiência do canal de rádio, limitando o número de objetos disseminados pelas mesmas. Assim, o serviço de perceção coletiva desenvolvido poderá ser uma ferramenta valiosa, contribuindo para o aumento da segurança rodóviaria e para a disseminação da utilização dos sistemas cooperativos de transporte inteligente.Mestrado em Engenharia Eletrónica e Telecomunicaçõe

V2X communications performance analysis using open-source simulators

Uno de los aspectos claves de la comunicación entre Vehículos hacia Todo (V2X) es el concepto de la conciencia cooperativa, donde el intercambio periódico del estado de las informaciones permite a los vehículos ser conscientes de su entorno aumentando así la seguridad y la eficacia del tráfico. Este proyecto consta de dos objetivos, el primero ha sido implementar y diseñar una interfaz para comunicar el Objective Modular Network Tested in C ++ (OMNeT ++, un simulador de redes que permite simular escenarios V2X) con el Car Learning to Act (CARLA, un simulador de conducción autónoma), transmitiendo los mensajes simulados con el OMNeT ++ hacia el CARLA. De esta manera el vehículo egocéntrico es más consciente de su entorno. El segundo objetivo ha sido evaluar la efectividad del servicio básico de Conciencia cooperativa (CA) mediante un simulador IEEE 802.11p V2X. Las simulaciones se han ejecutado variando la densidad de vehículos y los tamaños de los Mensajes de Concència Cooperativa (CAM) en dos escenarios diferentes: una autopista y una cuadrícula de Manhattan. El rendimiento ha sido evaluado analizando la Tasa de Paquetes erróneos (PER) y el número de mensajes recibidos en los dos escenarios. En el caso de la cuadrícula de Manhattan también se ha diferenciado el caso de Vista Directa (LOS). La presencia de más vehículos ha causado más pérdidas de paquetes debido al incremento de la interferencia y la probabilidad de colisiones de paquetes, incrementando así los valores de la PER. En el momento que se ha aumentado el tamaño de los mensajes CAM, la PER también ha aumentado, ya que las interferencias de los escenarios han aumentando. En el escenario de Manhattan hay un pico de más paquetes recibidos y más interferencias en las intersecciones, lo que conlleva un incremento de la PER.Un dels aspectes claus de la comunicació entre Vehicles cap a Tot (V2X) és el concepte de la consciència cooperativa, on l'intercanvi periòdic de l'estat de les informacions permet als vehicles ser conscients del seu entorn augmentant així la seguretat i l'eficàcia del trànsit. Aquest projecte consta de dos objectius, el primer ha estat implementar i dissenyar una interfície per comunicar l'Objective Modular Network Tested in C++ (OMNeT++, un simulador de xarxes que permet simular escenaris V2X) amb el Car Learning to Act (CARLA, un simulador de conducció autònoma), transmetent els missatges simulats amb l'OMNeT++ cap al CARLA. D'aquesta manera el vehicle egocèntric és més conscient del seu entorn. El segon objectiu ha estat avaluar l'efectivitat del servei bàsic de Conciència cooperativa (CA) mitjançant un simulador IEEE 802.11p V2X. Les simulacions s'han executat variant la densitat de vehicles i les mides dels Missatges de Conciència Cooperativa (CAM) en dos escenaris diferents: una autopista i una quadrícula de Manhattan. El rendiment ha estat avaluat analitzant la Tassa de Paquets Erronis (PER) i el nombre de missatges rebuts en els dos escenaris. En el cas de la quadrícula de Manhattan també s'ha diferenciat el cas de Vista Directa (LOS). La presència de més vehicles ha causat més pèrdues de paquets a causa de l'increment de la interferència i la probabilitat de col·lisions de paquets, incrementant així els valors de la PER. En el moment que s'ha augmentat la mida dels missatges CAM, la PER també ha augmentat, ja que les interferències dels escenaris han augmentant. A l'escenari de Manhattan hi ha un pic de més paquets rebuts i més interferències a les interseccions, la qual cosa comporta un increment de la PER.A key aspect of Vehicle-to-Everything (V2X) communication is the concept of cooperative awareness, wherein the periodic exchange of status information allows vehicles to become aware of their surroundings for increased traffic safety and efficiency. This project aimed to implement and design an interface to communicate the Objective Modular Network Tested in C++ (OMNeT++, a network simulator simulating V2X scenarios), with the Car Learning to Act (CARLA, an autonomous driver simulator), feeding the messages received from the OMNeT++ simulation to CARLA. This way, being the Ego vehicle more aware of their surroundings. This project also aimed to evaluate the effectiveness of the Cooperative awareness (CA) basic service through the development of an IEEE 802.11p-based V2X system simulator. The simulations were executed varying the density of vehicles and Cooperative Awareness Message (CAM)'s length in two different scenarios: the highway scenario and the Manhattan grid scenario. The performance was then assessed by analyzing the Packet Error Rate (PER), the number of messages received, and also, in the Manhattan scenario, differentiating the Line of Sight (LOS) cases. The presence of more vehicles caused higher packet losses due to increased interference and collisions probability, leading to higher PER values. When the CAM's length increased, the PER as well as the interference in the scenario increased. In the Manhattan scenarios a peak of more packets received and more interference was present in the intersections, leading to a higher PER values

Cooperative Perception for Connected and Automated Vehicles: Evaluation and Impact of Congestion Control

Automated vehicles make use of multiple sensors to detect their surroundings. Sensors have significantly improved over the years but still face challenges due to the presence of obstacles or adverse weather conditions, among others. Cooperative or collective perception has been proposed to help mitigate these challenges through the exchange of sensor data among vehicles using V2X (Vehicle-to-Everything) communications. Recent studies have shown that cooperative perception can complement on-board sensors and increase the vehicle's awareness beyond its sensors field of view. However, cooperative perception significantly increases the amount of information exchanged by vehicles which can degrade the V2X communication performance and ultimately the effectiveness of cooperative perception. In this context, this study conducts first a dimensioning analysis to evaluate the impact of the sensors' characteristics and the market penetration rate on the operation and performance of cooperative perception. The study then investigates the impact of congestion control on cooperative perception using the Decentralized Congestion Control (DCC) framework defined by ETSI. The study demonstrates that congestion control can negatively impact the perception and latency of cooperative perception if not adequately configured. In this context, this study demonstrates for the first time that the combination of congestion control functions at the Access and Facilities layers can improve the perception achieved with cooperative perception and ensure a timely transmission of the information. The results obtained demonstrate the importance of an adequate configuration of DCC for the development of connected and automated vehicles

Edge-powered Assisted Driving For Connected Cars

Assisted driving for connected cars is one of the main applications that 5G-and-beyond networks shall support. In this work, we propose an assisted driving system leveraging the synergy between connected vehicles and the edge of the network infrastructure, in order to envision global traffic policies that can effectively drive local decisions. Local decisions concern individual vehicles, e.g., which vehicle should perform a lane-change manoeuvre and when; global decisions, instead, involve whole traffic flows. Such decisions are made at different time scales by different entities, which are integrated within an edge-based architecture and can share information. In particular, we leverage a queuing-based model and formulate an optimization problem to make global decisions on traffic flows. To cope with the problem complexity, we then develop an iterative, linear-time complexity algorithm called Bottleneck Hunting (BH). We show the performance of our solution using a realistic simulation framework, integrating a Python engine with ns-3 and SUMO, and considering two relevant services, namely, lane change assistance and navigation, in a real-world scenario. Results demonstrate that our solution leads to a reduction of the vehicles' travel times by 66 in the case of lane change assistance and by 20 for navigation, compared to traditional, local-coordination approaches.Comment: arXiv admin note: text overlap with arXiv:2008.0933

An Emulation Framework for Evaluating V2X Communications in C-ITS Applications

C-ITS enhances transportation systems with advanced communication tech, enabling vehicle-to-vehicle and vehicle-to-infrastructure data exchange for real-time decision-making. The thesis explores C-ITS concepts, DSRC, and C-V2X tech, and proposes a versatile C-ITS framework for app prototyping and communication evaluation. Real-world tests and simulations validate its potential to improve road safety and efficiency, suggesting integration opportunities for stakeholders and promoting a smarter, sustainable transportation ecosystem