Cooperative Perception Message Transmission Control Scheme Based on Information Value

doi:10.19678/j.issn.1000-3428.0068898

Abstract

Abstract:

Roadside Units (RSU) detect and sense the road environment to form a Cooperative Perception Message (CPM), and this CPM is transmitted from the RSU to vehicles on a road. This process can expand the sensing range of vehicles and effectively improve the safety index of vehicle traveling. However, in urban scenarios with many vehicles and pedestrians, the volume of CPM data generated by an RSU after sensing road objects (including vehicles and pedestrians) is excessive, including a large amount of Perceived Object Information (POI) with low safety value. Sharing them frequently with vehicles is likely to congest networks, thereby increasing transmission delay and reducing the quality of service of the CPM. To address this issue, this paper proposes a CPM transmission control scheme called TRAC, which identifies the collision risk of road objects through Improved Time-to-Collison (Improved-TTC) to determine the traffic safety value of the POI. The RSU uses this value to selectively transmit the POI. The adaptive CPM transmission control algorithm in TRAC determines the CPM generation frequency based on the real-time network state. The CPM high-value transmission content selection algorithm determines which POI should be transmitted based on traffic safety values. This scheme effectively reduces transmission delays and improves the quality of service of the CPM. Compared with existing schemes, the CPM transmission delay of TRAC scheme is increased by up to 89%, and the quality of service of the CPM is increased by up to 8.1 times.

Key words: perception information, Cooperative Perception Message(CPM), information value, assisted driving, transmission delay, quality of service

摘要：

路边单元(RSU)检测感知道路环境后形成协同感知信息(CPM)，将该CPM由RSU传输至道路中的车辆，可以扩大车辆的感知范围，有效提升车辆行驶的安全指数。但是，在车辆和行人众多的城市场景中，RSU感知道路个体(包括车辆、行人等)后形成的CPM数据规模过大，其中包含过多低安全价值的感知对象信息(POI)，将其频繁共享给车辆容易造成网络拥塞，从而增加传输延迟，降低CPM的服务质量。为此，提出了一种命名为TRAC的CPM传输控制方案。该方案通过改进的碰撞预警时间(Improved-TTC)识别道路个体的碰撞风险，从而确定感知对象信息的交通安全价值。根据该安全价值，路边单元可以有选择性地传输POI。TRAC方案中的自适应CPM传输控制算法根据实时的网络状态决定CPM的生成频率。CPM高价值传输内容选择算法根据交通安全价值决定应该传输哪些POI。实验结果表明，该方案有效降低了传输延迟，提高CPM的服务质量，与现有方案相比，TRAC方案的CPM传输延迟最多可降低了89%，服务质量最多可提升8.1倍。

关键词: 感知信息, 协同感知信息, 信息价值, 辅助驾驶, 传输延迟, 服务质量

LIU Jianhang, ZHOU Xiang, LI Shibao, CUI Xuerong. Cooperative Perception Message Transmission Control Scheme Based on Information Value[J]. Computer Engineering, 2025, 51(6): 245-254.

刘建航, 周翔, 李世宝, 崔学荣. 基于信息价值的协同感知信息传输控制方案[J]. 计算机工程, 2025, 51(6): 245-254.

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Figures/Tables 11

Fig.1 Schematic diagram of TRAC scheme system model

Fig.2 Schematic diagram of grouped perceived object information integration into collaborative perception infromation

Fig.3 Collision risk identification method based on improved collision warning time

Fig.4 Schematic diagram of the target individual and related individuals are moving towards each other without passing through each other

Fig.5 Schematic diagram of the target individual and related individuals have moved in reverse and have passed through each other

Fig.6 Schematic diagram of the target individual and related individuals move in the same direction, and the target individual is behind

Fig.7 Schematic diagram of the target individual and related individuals move in the same direction, and the target individual is in front

Fig.8 Collaborative perception message transmission delay of different average speeds

Fig.9 Collaborative perception message service quality of different average speeds

Fig.10 Average minimum collision warning time of different average speeds

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