Time-Sensitive Cooperative Perception for Real-Time Data Sharing over Vehicular Communications: Overview, Challenges, and Future Directions
Time-Sensitive Cooperative Perception for Real-Time Data Sharing over Vehicular Communications: Overview, Challenges, and Future Directions
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车辆通信实时数据共享的时间敏感协作感知：概述、挑战和未来方向
DOI：
10.1109/iotm.001.2100143
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Rajkumar Ragunathan Raj
中科院分区：
文献类型：
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作者：
Aoki Shunsuke;Yonezawa Takuro;Kawaguchi Nobuo;Steenkiste Peter;Rajkumar Ragunathan Raj
协同感知是一种通过车辆通信交换其原始或处理后的传感器数据来提高道路安全的潜在应用。由于CAV严重依赖基于传感器的感知，包括视觉摄像头、激光雷达和雷达，因此协作感知在提高道路安全方面具有巨大的潜力。与此同时，各种传感器和边缘服务器已经广泛部署在智慧城市中，这些传感器和服务器可能能够在公共道路上为CAV提供支持。在这篇文章中，我们全面研究这种合作的看法概述，技术挑战，实际需求，前瞻性的系统设计，目前的方法，和未来的研究方向。特别是，我们专注于合作感知框架的时间敏感性，其中计算和通信的延迟导致检测错误。此外，我们全面研究传感器融合框架和模型，以提高CAV的检测精度和可靠性，同时避免信息泛滥和/或谣言传播。由于网络拥塞可能导致数据包冲突和/或延迟，拥塞控制可能是必不可少的，在实践中使用合作感知。最后，我们讨论了在公共道路上使用合作感知的技术和伦理挑战，并总结了未来的研究方向。
Cooperative perception is a prospective application to improve road safety by having connected autonomous vehicles (CAVs) exchange their raw or processed sensor data over vehicular communications. Since CAVs heavily rely on sensor-based perception, including vision cameras, LiDARs, and radars, cooperative perception has an immense potential to improve road safety. At the same time, a variety of sensors and edge servers have been widely deployed in smart cities, and such sensors and servers might be able to empower CAVs on public roads. In this article, we comprehensively study such cooperative perception for overview, technical challenges, practical requirements, prospective system designs, current approaches, and future research directions. In particular, we focus on the time sensitivity of the cooperative perception frameworks, in which delays of computing and communications lead to detection errors. In addition, we comprehensively study sensor fusion frameworks and models to improve the detection accuracy and reliability of CAVs while avoiding information flooding and/or rumor spreading. Since network congestion might lead to packet collisions and/or delays, congestion control might be essential to use cooperative perception in practice. Finally, we discuss the technical and ethical challenges of using cooperative perception on public roads and conclude with future research directions.