Bandwidth-Efficient Communication Modelling for Autonomous Vehicle Collaborative Perception

Accurate perception systems are crucial for intelligent vehicle motion planning and control. Cooperative per-ception can significantly enhance the perception capabili-ties of autonomous vehicles by sharing information beyond the field of view of individual vehicles. However, most re-cent studies on cooperative perception have overlooked the bandwidth limitations of information sharing. To address this issue, this paper presents a novel multi-agent coop-erative 3D object detection framework to improve the de-tection accuracy of connected autonomous vehicles (CAVs) in bandwidth-constrained wireless communication environments. The framework includes an attention-based commu-nication mechanism to select optimal communication part-ners and a foreground-background separation strategy to prioritize key information. The effectiveness of the proposed framework is evaluated on three benchmark datasets CARLA-3D, V2XSet, and OPV2V, demonstrating the state-of-the-art performance-bandwidth trade-off.