Collective Perception Messaging for Hidden Object State Estimation
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Solution Overview
Problem
In Cooperative Intelligent Transport Systems (C-ITS), objects that are occluded or hidden by other objects are not effectively tracked, leading to increased complexity in data fusion and reduced safety due to the lack of information about their presence, especially when they reappear as new objects with new identifiers.
Innovation Solution
The method involves transmitting Collective Perception Messages (CPMs) that include estimated states of objects no longer perceived by on-board sensors, using a dedicated sensor type and confidence values to signal their potential presence, allowing receiving ITS stations to anticipate and track occluded or hidden objects without new identifiers, thereby simplifying data fusion and enhancing safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If CPMs only contain information about currently perceived objects, then data transmission efficiency is improved, but tracking of occluded objects is lost and data fusion complexity increases
Solution Approach 1:
The patent applies preliminary action by including estimated state information of occluded objects in CPMs before they are re-perceived. This allows receiving ITS stations to have advance information about objects that will reappear, maintaining continuous tracking and simplifying data fusion when the objects re-enter the sensor field.
Solution Approach 2:
The patent uses estimation information as an intermediary to bridge the gap between occluded and re-perceived objects. By transmitting estimated states (position, speed, trajectory) of objects not currently perceived, the system maintains continuity of tracking without requiring complete re-detection, thus reducing data fusion complexity.
2Reliability
If CPMs include estimated states of non-perceived objects, then tracking continuity is improved, but data transmission load increases
Solution Approach 1:
The patent applies local quality by selectively including estimated state information only for specific types of objects (e.g., vulnerable road users, pedestrians, cyclists) rather than all objects. This targeted approach maintains tracking continuity for critical objects while limiting the increase in data transmission load to only essential information.
Solution Approach 2:
The patent changes parameters by transmitting estimated states (position, speed, trajectory) rather than full object descriptions. This parameter-based approach maintains tracking continuity with reduced data volume compared to transmitting complete object information, thus balancing reliability improvement with transmission load management.
3Device complexity
If occluded objects are not signaled, then message simplicity is maintained, but safety is reduced due to lack of information about hidden objects
Solution Approach 1:
The patent applies partial action by including estimated state information for only certain categories of occluded objects (particularly vulnerable road users, pedestrians, and cyclists) rather than all objects. This provides sufficient safety information for critical objects while maintaining relative message simplicity and avoiding excessive data transmission.
Data Source
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AI summary
According to some embodiments of the disclosure, it is provided a method of communication in an intelligent transport system, ITS. After having perceived an object within an area monitored by the ITS-S, at a first given time, an estimation of a state of the object is obtained at a second given time, if the object is no longer perceived by the ITS-S at the second given time and a Collective Perception Message, CPM, comprising items of information related to the estimated state of the object is transmitted.