Hybrid V2X Cooperative Perception for Misperceived Object Alerts
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Solution Overview
Problem
Existing solutions for cooperative perception among vehicles rely on single-level V2V technology, which is inadequate for accurately perceiving the driving state and surrounding environment due to limited bandwidth, allowing only the identification of about twenty objects, whereas real-world environments contain more and require more detailed information.
Innovation Solution
A multi-level hybrid perception system that combines omni-directional 802.11p messages with directional mmWave messages to enable connected vehicles to exchange sensor information, allowing for the precise perception of their environment by broadcasting coarse-grained data via 802.11p and transmitting fine-grained data via mmWave.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If single-level V2V technology is used for cooperative perception, then device complexity is reduced, but measurement precision and quantity of detected objects are limited to about twenty objects
Solution Approach 1:
The communication system is segmented into two distinct levels: basic CPM for coarse-grained environment information and supplemental CPM for fine-grained detailed information. This segmentation allows the system to overcome the twenty-object limitation by distributing different types of perception data across multiple communication protocols, thereby improving measurement precision without requiring a single complex system
2Quantity of substance
If mmWave communication is used for directional V2V messages, then bandwidth is increased for fine-grained data, but device complexity increases
Solution Approach 1:
The system merges 802.11p and mmWave communication technologies into a hybrid multi-level V2V communication framework. Basic CPM data is transmitted via 802.11p while supplemental CPM data is transmitted via mmWave, allowing the system to leverage the high bandwidth of mmWave for detailed information without requiring the entire system to operate at that complexity level
3Measurement precision
If more detailed environment information is transmitted, then measurement precision improves, but loss of time increases due to larger data payloads
Solution Approach 1:
Perception data is segmented into two priority levels: basic CPM containing essential coarse-grained information transmitted quickly via 802.11p, and supplemental CPM containing detailed fine-grained information transmitted via mmWave. This segmentation allows critical safety information to be transmitted rapidly while detailed information is transmitted asynchronously, reducing overall transmission time while maintaining high measurement precision
Data Source
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AI summary
The disclosure includes embodiments for providing cooperative perception among two or more connected vehicles. In some embodiments, a method includes receiving, by a vehicle-to-anything (V2X) radio of an ego vehicle, a basic cooperative perception message (CPM) broadcast by a remote vehicle. The basic CPM includes basic CPM data describing objects that a remote vehicle has perceived. The method includes determining that the remote vehicle has misperceived a select object and that the remote vehicle is on a collision course with the select object. The method includes unicasting to the remote vehicle, by the V2X radio of the ego vehicle using a different V2X protocol than was used for receiving the basic CPM, a supplemental CPM including supplemental CPM data describing the select object that the remote vehicle has misperceived so that the remote vehicle is alerted to a presence of the select object.