Collective Perception: A Delay Evaluation With a Short Discussion on Channel Load

Christoph Pilz; Peter Sammer; Esa Piri; Udo Grossschedl; Gerald Steinbauer-Wagner; Lukas Kuschnig; Alina Steinberger; Markus Schratter

doi:10.1109/OJITS.2023.3296812

Collective Perception: A Delay Evaluation With a Short Discussion on Channel Load

Christoph Pilz^*, Peter Sammer, Esa Piri, Udo Grossschedl, Gerald Steinbauer-Wagner, Lukas Kuschnig, Alina Steinberger, Markus Schratter

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

Abstract

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.

Original language	English
Pages (from-to)	506-526
Number of pages	21
Journal	IEEE Open Journal of Intelligent Transportation Systems
Volume	4
DOIs	https://doi.org/10.1109/OJITS.2023.3296812
Publication status	Published - 2023

Keywords

automated driving
Autoware
collective perception
cooperative connected automated mobility
ros
vehicle communication platform to anything
vehicle to anything

ASJC Scopus subject areas

Automotive Engineering
Mechanical Engineering
Computer Science Applications

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10.1109/OJITS.2023.3296812Licence: CC BY 4.0

Cite this

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title = "Collective Perception: A Delay Evaluation With a Short Discussion on Channel Load",

abstract = "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.",

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author = "Christoph Pilz and Peter Sammer and Esa Piri and Udo Grossschedl and Gerald Steinbauer-Wagner and Lukas Kuschnig and Alina Steinberger and Markus Schratter",

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doi = "10.1109/OJITS.2023.3296812",

language = "English",

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AU - Steinbauer-Wagner, Gerald

AU - Kuschnig, Lukas

AU - Steinberger, Alina

AU - Schratter, Markus

PY - 2023

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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.

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Collective Perception: A Delay Evaluation With a Short Discussion on Channel Load

Abstract

Keywords

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