Scholarlink

The safety of Vulnerable Road Users (VRUs) is a pivotal element in assistance-supported and autonomous driving systems, necessitating heightened awareness of pedestrians and cyclists among road users. While Intelligent Transport Systems (ITS) employ on-board sensors to identify VRUs, they are insufficient in complex traffic environments, i.e. urban city scenarios, where not all relevant entities are captured. To address this, the Collective Perception Service (CPS) offers supplementary Vehicle-to-Everything (V2X) communication for sharing information about these entities with nearby ITS stations (ITS-Ss). Additional deployment of Road Side Units (RSUs) can further enhance the performance in terms of environmental awareness. Our earlier research established that utilizing a relay and aggregation mechanism for Collective Perception Messages (CPMs) implemented in RSUs enhances ITS-Ss’ perception of VRUs. However, it is essential to optimize the use of network resources given the limited bandwidth of the V2X channel. Unlike our prior work, which did not specify Road-Side Unit (RSU)-specific CPM rules and had a constant CPM dissemination rate, the current study incorporates the Value of Information (VoI) to prioritize more relevant objects for surrounding ITS-Ss. Our simulation results according to ETSI standards show that this enhanced approach effectively reduces network channel load while maintaining high VRU awareness among vehicles.

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Infrastructure-Assisted Collective Perception Service with Emphasis on Vulnerable Road User Perception

  • 会议论文

  • 发表日期：

    2025年

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  • Vincent Albert Wolff

摘要

The safety of Vulnerable Road Users (VRUs) is a pivotal element in assistance-supported and autonomous driving systems, necessitating heightened awareness of pedestrians and cyclists among road users. While Intelligent Transport Systems (ITS) employ on-board sensors to identify VRUs, they are insufficient in complex traffic environments, i.e. urban city scenarios, where not all relevant entities are captured. To address this, the Collective Perception Service (CPS) offers supplementary Vehicle-to-Everything (V2X) communication for sharing information about these entities with nearby ITS stations (ITS-Ss). Additional deployment of Road Side Units (RSUs) can further enhance the performance in terms of environmental awareness. Our earlier research established that utilizing a relay and aggregation mechanism for Collective Perception Messages (CPMs) implemented in RSUs enhances ITS-Ss’ perception of VRUs. However, it is essential to optimize the use of network resources given the limited bandwidth of the V2X channel. Unlike our prior work, which did not specify Road-Side Unit (RSU)-specific CPM rules and had a constant CPM dissemination rate, the current study incorporates the Value of Information (VoI) to prioritize more relevant objects for surrounding ITS-Ss. Our simulation results according to ETSI standards show that this enhanced approach effectively reduces network channel load while maintaining high VRU awareness among vehicles.