V2X Collective Perception Message Structure for Surrounding Object Sharing
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Solution Overview
Problem
Current V2X communication systems, such as those providing cooperative awareness (CA) services, are limited in that they only share information of the V2X communication device itself, failing to inform other devices about the presence and state of surrounding road users and objects without V2X communication capabilities, thereby limiting traffic safety and management.
Innovation Solution
A collective perception (CP) service is introduced, which uses a new message structure to share sensor information and object data through V2X communication devices, enabling them to inform other devices about detected road users and objects, including those without V2X capabilities, by defining a new message structure for CP messages that include data from existing CAM and DENM messages.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a new message structure for CP service is defined, then the ability to share surrounding environment information is improved, but the device complexity increases
Solution Approach 1:
The CP message is segmented into distinct functional containers: sensor information container (SIC) for sensor capabilities and perceived object container (POC) for detected objects. Each container has a standardized internal structure, allowing the system to share complex environment information while maintaining manageable message organization through clear segmentation of different information types.
2Reliability
If sensor information from multiple sensors is shared, then the reliability of detected objects is improved, but the quantity of data transmitted increases
Solution Approach 1:
The patent extracts and transmits only the essential sensor information needed for object detection reliability: sensor type, position, measurement range, and opening angle are pulled out from complete sensor datasets. This selective extraction maintains object detection reliability by including only the most critical parameters while reducing overall data transmission volume.
Solution Approach 2:
The standardized container structure serves multiple functions simultaneously: it organizes sensor information, describes sensor capabilities, lists detected objects, and provides metadata for data interpretation. This multi-functionality allows comprehensive environment sharing without proportionally increasing data volume, as the same structural framework handles multiple information types efficiently.
3Loss of information
If comprehensive sensor information is included in CP messages, then the usefulness of V2X communication is improved, but the message size increases
Solution Approach 1:
The message structure applies local quality optimization by including detailed sensor information and object data only where necessary for collective perception functionality. The SIC includes sensor-specific parameters (type, position, range, angle) only for sensors that contribute to object detection, while the POC includes object attributes only for detected objects. This selective inclusion maintains information completeness for safety-critical data while avoiding unnecessary data bloat.
Data Source
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AI summary
A method of sending, by a V2X communication device of a vehicle, a CPM message is disclosed. The method includes collecting sensor data obtained from a plurality of sensors mounted on the vehicle to detect a surrounding object; generating a CP message including sensor information on the plurality of sensors and object information on the detected surrounding object; and sending the CP message. The CP message includes a header, a basic container, an originating station container including information of the vehicle, and a perceived object container including information on the detected surrounding object. The originating station container includes a sensor type field representing sensor types for the plurality of sensors and a sub-sensor type field including additional information for the plurality of sensors according to the sensor types.