NLOS Dies Twice: Challenges and Solutions of V2X for Cooperative Perception

TL;DR

This paper addresses the challenges of NLOS issues in V2X communication for cooperative perception in autonomous driving, proposing a new sensor fusion method and simulation framework to improve communication efficiency and safety.

Contribution

It introduces an abstract perception matrix matching method and a hybrid relay determination procedure to enhance V2X communication reliability under NLOS conditions.

Findings

Improved sensor fusion matching speed

Enhanced V2X communication robustness

Effective simulation framework for autonomous driving scenarios

Abstract

Multi-agent multi-lidar sensor fusion between connected vehicles for cooperative perception has recently been recognized as the best technique for minimizing the blind zone of individual vehicular perception systems and further enhancing the overall safety of autonomous driving systems. This technique relies heavily on the reliability and availability of vehicle-to-everything (V2X) communication. In practical sensor fusion application scenarios, the non-line-of-sight (NLOS) issue causes blind zones for not only the perception system but also V2X direct communication. To counteract underlying communication issues, we introduce an abstract perception matrix matching method for quick sensor fusion matching procedures and mobility-height hybrid relay determination procedures, proactively improving the efficiency and performance of V2X communication to serve the upper layer application fusion requirements. To demonstrate the effectiveness of our solution, we design a new simulation framework to consider autonomous driving, sensor fusion and V2X communication in general, paving the way for end-to-end performance evaluation and further solution derivation.