Performance Assessment of Collective Perception Service Supported by the Roadside Infrastructure

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.