Abstract
To mitigate road-related problems such as safety and traffic congestion, the evolution towards cooperative communicating technologies and autonomous systems is considered a solution to overcome human physical limitations and the limited perception horizon of on-board sensors. This paper describes the implementation of the Collective Perception Service (CPS) in a real road infrastructure with the goal of providing information to automated vehicles and to a central road operator. The Collective Perception Messages are built by retrieving information from traffic classification radars for local dissemination using ITS-G5 radio technology and for broader access by disseminating the messages into a central entity. The service is improved by applying some rules for optimizing the message dissemination in order to increase radio channel efficiency. The results of the experimental tests showed that the end-to-end delay between the production event of the Collective Perception Message (CPM) and the reception by other ITS stations is within the boundaries defined by ETSI standards. Moreover, the algorithm for message dissemination also shows improvement in the radio channel efficiency by limiting the number of objects disseminated by CPM messages. The developed Collective Perception Service and the road infrastructure are, therefore, a valuable asset to provide useful information for increasing road safety and fostering the deployment of Cooperative, Connected and Automated Mobility (CCAM) applications.
Highlights
Information sharing and communication capabilities increase the ability to become more flexible, reliable, and robust
The exchange of data is accomplished over cellular networks (LTE/5G), optical fiber, or radio links, which is more appropriate to follow the common Internet protocol stack based on standard Transmission Control Protocol (TCP)/IP connections to transmit and receive the Message Queuing Telemetry Transport (MQTT) packets that embody the C-Intelligent Transport Systems (ITS) messages at the applications layer, i.e., CAMs, Decentralized Environmental Notification Messages (DENMs), Collective Perception Message (CPM)
The OnBoard Units (OBUs) redirects the messages to its own local MQTT broker, and through the mobile application, the user can see the surrounding information
Summary
Information sharing and communication capabilities increase the ability to become more flexible, reliable, and robust. With the advantage of supporting a larger amount of data, cellular networks enable access to specific ITS services (e.g., software updates, traffic information) and generic services for entertainment (e.g., video stream, points of interest) Another important element that can be exploited in cooperative systems is the roadside infrastructure that is deployed along the road. The position, motion state, and dimension information of a certain ITS-S could be processed by the receiver, allowing it to predict, calculate, and avoid safety-critical situations This service provides fundamental information to the road environment by transmitting the ITSS status, which reduces uncertainties and overcomes awareness challenges unachievable by vehicle drivers alone. The CPS is the entity located at the facilities layer responsible for generating, receiving, and processing Collective Perception Messages (CPMs), which contain information concerning the detected objects, as well as the information status regarding the originating ITS-S and its sensory capabilities.
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