A Study of the Effectiveness of Message Content, Length, and Rate Control for Improving Map Accuracy in Automated Driving Systems

Abstract

By providing information about the objects that are non-line of sight and/or beyond the detection range of the local sensors, inter-vehicle communication compensates for the limitations of vehicle tracking subsystem in automated driving systems that relies on on-board sensing devices. Tracking capability in such systems can further be improved by making optimal use of the communication channel through sharing of locally created map data instead of transmitting only beacon messages. Message length adaptation, together with transmit rate control can address the scalability issue inherent in the vehicular network. The content of the exchanged information is another important aspect that has significant impact on the map accuracy in cooperative driving systems. In this paper, we study different congestion and content control schemes for a communication architecture aimed at map sharing, and evaluate their performance in terms of a situational awareness metric, namely position tracking error. This paper determines that message content should be concentrated on mapped objects that are located farther away from the sender, but near the edge of local sensor range. This paper also finds that optimized combination of message length and transmit rate ensures the optimal channel utilization for cooperative vehicular communication, which in turn improves the situational awareness of the whole system.