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Article

Collective Perception: A Safety Perspective †

1
Corporate Research—Advanced Engineering Connected Mobility Systems, Robert Bosch GmbH, Robert-Bosch-Straße 200, 31139 Hildesheim, Germany
2
Institute of Communications Technology, Leibniz University of Hannover, Appelstraße 9A, 30167 Hannover, Germany
3
Department of Information and Communication Engineering, Tongji University, 4800 Cao’an Highway (Jiading), Shanghai 201804, China
4
Active Safety Advanced Technology, Opel Automobile GmbH, Bahnhofsplatz, 65423 Rüsselsheim, Germany
5
Department of Computer Science—Embedded Systems, Eberhard Karls University of Tübingen, Sand 13, 72076 Tübingen, Germany
*
Author to whom correspondence should be addressed.
This paper is an extended version of the conference paper: Schiegg, F.A.; Bischoff, D.; Krost, J.R.; Llatser, I. Analytical Performance Evaluation of the Collective Perception Service in IEEE 802.11p Networks. In Proceedings of the 2020 IEEE Wireless Communications and Networking Conference (WCNC), Seoul, Korea, 25–28 May 2020; pp. 1–6.
Sensors 2021, 21(1), 159; https://doi.org/10.3390/s21010159
Received: 19 November 2020 / Revised: 13 December 2020 / Accepted: 17 December 2020 / Published: 29 December 2020
(This article belongs to the Special Issue Cooperative Perception for Intelligent Vehicles)
Vehicle-to-everything (V2X) communication is seen as one of the main enabling technologies 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, redundancy, 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 participants. 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 contributes 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 worldwide standardization efforts of the collective perception service. View Full-Text
Keywords: collective perception; cooperative perception; V2X communication; environmental perception collective perception; cooperative perception; V2X communication; environmental perception
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MDPI and ACS Style

Schiegg, F.A.; Llatser, I.; Bischoff, D.; Volk, G. Collective Perception: A Safety Perspective. Sensors 2021, 21, 159. https://doi.org/10.3390/s21010159

AMA Style

Schiegg FA, Llatser I, Bischoff D, Volk G. Collective Perception: A Safety Perspective. Sensors. 2021; 21(1):159. https://doi.org/10.3390/s21010159

Chicago/Turabian Style

Schiegg, Florian A., Ignacio Llatser, Daniel Bischoff, and Georg Volk. 2021. "Collective Perception: A Safety Perspective" Sensors 21, no. 1: 159. https://doi.org/10.3390/s21010159

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