TY - JOUR
T1 - Collective Perception
T2 - A Delay Evaluation With a Short Discussion on Channel Load
AU - Pilz, Christoph
AU - Sammer, Peter
AU - Piri, Esa
AU - Grossschedl, Udo
AU - Steinbauer-Wagner, Gerald
AU - Kuschnig, Lukas
AU - Steinberger, Alina
AU - Schratter, Markus
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2023
Y1 - 2023
N2 - Automated vehicles and vehicle-to-everything (V2X) communication open the window for sharing of sensor data. This paper aims to provide a systematic view of the delay chain involved. We implemented collective perception (CP) into two street legal automated driving demonstrators (ADDs) to provide insight into the components' delay. The implementation allowed us to gather highly accurate Quality of Service (QoS) measurements for V2X communication in practical field environments and to gather a set of delay measurements for a working CP system, accompanied by scalability discussions. The results provide a basis for evaluating the delay impact of single components and the applicability of CP use cases from the perspective of time advantage.
AB - Automated vehicles and vehicle-to-everything (V2X) communication open the window for sharing of sensor data. This paper aims to provide a systematic view of the delay chain involved. We implemented collective perception (CP) into two street legal automated driving demonstrators (ADDs) to provide insight into the components' delay. The implementation allowed us to gather highly accurate Quality of Service (QoS) measurements for V2X communication in practical field environments and to gather a set of delay measurements for a working CP system, accompanied by scalability discussions. The results provide a basis for evaluating the delay impact of single components and the applicability of CP use cases from the perspective of time advantage.
KW - automated driving
KW - Autoware
KW - collective perception
KW - cooperative connected automated mobility
KW - ros
KW - vehicle communication platform to anything
KW - vehicle to anything
UR - http://www.scopus.com/inward/record.url?scp=85166758352&partnerID=8YFLogxK
U2 - 10.1109/OJITS.2023.3296812
DO - 10.1109/OJITS.2023.3296812
M3 - Article
AN - SCOPUS:85166758352
SN - 2687-7813
VL - 4
SP - 506
EP - 526
JO - IEEE Open Journal of Intelligent Transportation Systems
JF - IEEE Open Journal of Intelligent Transportation Systems
ER -