Enhancing Reliability in Infrastructure-Based Collective Perception: A Dual-Channel Hybrid Delivery Approach With Real-Time Monitoring
Standalone autonomous vehicles primarily rely on their onboard sensors and may have blind spots or limited situational awareness in complex or dynamic traffic scenarios, leading to difficulties in making safe decisions. Collective perception enables connected autonomous vehicles (CAVs) to overcome t...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024-01-01
|
| Series: | IEEE Open Journal of Vehicular Technology |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10637709/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832582322452430848 |
|---|---|
| author | Yu Asabe Ehsan Javanmardi Jin Nakazato Manabu Tsukada Hiroshi Esaki |
| author_facet | Yu Asabe Ehsan Javanmardi Jin Nakazato Manabu Tsukada Hiroshi Esaki |
| author_sort | Yu Asabe |
| collection | DOAJ |
| description | Standalone autonomous vehicles primarily rely on their onboard sensors and may have blind spots or limited situational awareness in complex or dynamic traffic scenarios, leading to difficulties in making safe decisions. Collective perception enables connected autonomous vehicles (CAVs) to overcome the limitations of standalone autonomous vehicles by sharing sensory information with nearby road users. However, unfavorable conditions of the wireless communication medium it uses can lead to limited reliability and reduced quality of service. In this paper, we propose methods for increasing the reliability of collective perception through real-time packet delivery rate monitoring and a dual-channel hybrid delivery approach. We have implemented AutowareV2X, a vehicle-to-everything (V2X) communication module integrated into the autonomous driving (AD) software Autoware. AutowareV2X provides connectivity to the AD stack, enabling end-to-end (E2E) experimentation and evaluation of CAVs. The Collective Perception Service (CPS) was also implemented, allowing the transmission of Collective Perception Messages (CPMs). Our proposed methods using AutowareV2X were evaluated using actual hardware and vehicles in real-life field tests. Results have indicated that the E2E network latency of the perception information sent is around 30ms, and the AD software can use shared object data to conduct collision avoidance maneuvers. The dual-channel delivery of CPMs enabled the CAV to dynamically select the best CPM from CPMs received from different links, depending on the freshness of their information. This enabled the reliable transmission of CPMs even when there was significant packet loss on one of the transmitting channels. |
| format | Article |
| id | doaj-art-971d1911b5b44220aef40c3507bfb39c |
| institution | Kabale University |
| issn | 2644-1330 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of Vehicular Technology |
| spelling | doaj-art-971d1911b5b44220aef40c3507bfb39c2025-01-30T00:04:35ZengIEEEIEEE Open Journal of Vehicular Technology2644-13302024-01-0151124113810.1109/OJVT.2024.344387710637709Enhancing Reliability in Infrastructure-Based Collective Perception: A Dual-Channel Hybrid Delivery Approach With Real-Time MonitoringYu Asabe0https://orcid.org/0009-0001-2509-6710Ehsan Javanmardi1https://orcid.org/0000-0003-0337-115XJin Nakazato2https://orcid.org/0000-0002-2394-267XManabu Tsukada3https://orcid.org/0000-0001-8045-3939Hiroshi Esaki4Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, JapanGraduate School of Information Science and Technology, The University of Tokyo, Tokyo, JapanGraduate School of Information Science and Technology, The University of Tokyo, Tokyo, JapanGraduate School of Information Science and Technology, The University of Tokyo, Tokyo, JapanGraduate School of Information Science and Technology, The University of Tokyo, Tokyo, JapanStandalone autonomous vehicles primarily rely on their onboard sensors and may have blind spots or limited situational awareness in complex or dynamic traffic scenarios, leading to difficulties in making safe decisions. Collective perception enables connected autonomous vehicles (CAVs) to overcome the limitations of standalone autonomous vehicles by sharing sensory information with nearby road users. However, unfavorable conditions of the wireless communication medium it uses can lead to limited reliability and reduced quality of service. In this paper, we propose methods for increasing the reliability of collective perception through real-time packet delivery rate monitoring and a dual-channel hybrid delivery approach. We have implemented AutowareV2X, a vehicle-to-everything (V2X) communication module integrated into the autonomous driving (AD) software Autoware. AutowareV2X provides connectivity to the AD stack, enabling end-to-end (E2E) experimentation and evaluation of CAVs. The Collective Perception Service (CPS) was also implemented, allowing the transmission of Collective Perception Messages (CPMs). Our proposed methods using AutowareV2X were evaluated using actual hardware and vehicles in real-life field tests. Results have indicated that the E2E network latency of the perception information sent is around 30ms, and the AD software can use shared object data to conduct collision avoidance maneuvers. The dual-channel delivery of CPMs enabled the CAV to dynamically select the best CPM from CPMs received from different links, depending on the freshness of their information. This enabled the reliable transmission of CPMs even when there was significant packet loss on one of the transmitting channels.https://ieeexplore.ieee.org/document/10637709/Collective perceptioncooperative ITSroad-side infrastructureV2Xautowarevehicular networks |
| spellingShingle | Yu Asabe Ehsan Javanmardi Jin Nakazato Manabu Tsukada Hiroshi Esaki Enhancing Reliability in Infrastructure-Based Collective Perception: A Dual-Channel Hybrid Delivery Approach With Real-Time Monitoring IEEE Open Journal of Vehicular Technology Collective perception cooperative ITS road-side infrastructure V2X autoware vehicular networks |
| title | Enhancing Reliability in Infrastructure-Based Collective Perception: A Dual-Channel Hybrid Delivery Approach With Real-Time Monitoring |
| title_full | Enhancing Reliability in Infrastructure-Based Collective Perception: A Dual-Channel Hybrid Delivery Approach With Real-Time Monitoring |
| title_fullStr | Enhancing Reliability in Infrastructure-Based Collective Perception: A Dual-Channel Hybrid Delivery Approach With Real-Time Monitoring |
| title_full_unstemmed | Enhancing Reliability in Infrastructure-Based Collective Perception: A Dual-Channel Hybrid Delivery Approach With Real-Time Monitoring |
| title_short | Enhancing Reliability in Infrastructure-Based Collective Perception: A Dual-Channel Hybrid Delivery Approach With Real-Time Monitoring |
| title_sort | enhancing reliability in infrastructure based collective perception a dual channel hybrid delivery approach with real time monitoring |
| topic | Collective perception cooperative ITS road-side infrastructure V2X autoware vehicular networks |
| url | https://ieeexplore.ieee.org/document/10637709/ |
| work_keys_str_mv | AT yuasabe enhancingreliabilityininfrastructurebasedcollectiveperceptionadualchannelhybriddeliveryapproachwithrealtimemonitoring AT ehsanjavanmardi enhancingreliabilityininfrastructurebasedcollectiveperceptionadualchannelhybriddeliveryapproachwithrealtimemonitoring AT jinnakazato enhancingreliabilityininfrastructurebasedcollectiveperceptionadualchannelhybriddeliveryapproachwithrealtimemonitoring AT manabutsukada enhancingreliabilityininfrastructurebasedcollectiveperceptionadualchannelhybriddeliveryapproachwithrealtimemonitoring AT hiroshiesaki enhancingreliabilityininfrastructurebasedcollectiveperceptionadualchannelhybriddeliveryapproachwithrealtimemonitoring |