A Survey and Tutorial of Redundancy Mitigation for Vehicular Cooperative Perception: Standards, Strategies and Open Issues

TL;DR

This survey comprehensively reviews redundancy mitigation strategies for vehicular cooperative perception, comparing standards, analyzing academic approaches, and highlighting open research challenges to guide future developments.

Contribution

It provides a detailed taxonomy of redundancy mitigation methods, compares evolving standards, and identifies key open issues in deploying effective CPS redundancy solutions.

Findings

Comparison of 2019 and 2023 ETSI standards on redundancy mitigation

Taxonomy of mitigation approaches: filtering, optimization, frequency management

Identification of open research challenges for CPS redundancy deployment

Abstract

This paper provides an in-depth review and discussion of the state of the art in redundancy mitigation for the vehicular Collective Perception Service (CPS). We focus on the evolutionary differences between the redundancy mitigation rules proposed in 2019 in ETSI TR 103 562 versus the 2023 technical specification ETSI TS 103 324, which uses a Value of Information (VoI) based mitigation approach. We also critically analyse the academic literature that has sought to quantify the communication challenges posed by the CPS and present a unique taxonomy of the redundancy mitigation approaches proposed using three distinct classifications: object inclusion filtering, data format optimisation, and frequency management. Finally, this paper identifies open research challenges that must be adequately investigated to satisfactorily deploy CPS redundancy mitigation measures. Our critical and comprehensive evaluation serves as a point of reference for those undertaking research in this area.