This document provides a description for a V2X-capable device such as a vehicle, an infrastructure or a portable device to broadcast its perception information of other road users/objects nearby, to realize cooperative perception sharing, and to improve the perception performance of other V2X-capable devices/systems.
The concept of such perception sharing system can be: The host system is capable of transmitting and receiving V2X messages such as BSM and PSM messages. In the meanwhile the host system is capable of detecting nearby road users/objects such as foreign objects, vehicles and pedestrians. The host system can determine whether the detected objects are V2X enabled or not, and translate the detected objects to messages such as a new cooperative perception message, and/or an extension of messages such as BSMs/PSMs, and broadcast these messages. This document defines a set of use cases and the associated performance and security requirements of these messages/extensions broadcasting such as the latency, new data elements and their accuracy.
Rationale: Many existing and emerging ADAS system employ on-board sensing (e.g., cameras, radars, lidars, ultrasonic transducers, etc) for active safety applications such as, but not limited to, AEB (Automatic Emergency Braking), LKA (Lane Keeping Assist), BSA (Blind Spot Advisory) and FCW (Forward Collision Warning). This project plans to use these sensory inputs to generate V2X message elements describing detected objects, pedestrians, bicyclists, motorcyclists or other vulnerable road users, and vehicles that are not equipped with V2X transmitters. The benefit is the extension of this cooperative safety technology to provide imminent crash avoidance effects for unequipped transportation elements as well as equipped vehicles.
