Exploring Communication and Roadside Perception Requirements for Cooperative Warning Systems at Intersections

Infrastructure-based cooperative perception has been researched for several years, but few automotive warning or control applications using this information have been published. Infrastructure sensing, such as with cameras or lidars, and a communication system, allows connected vehicles to receive information about all observed objects. An SAE standard, “V2X Sensor-Sharing for Cooperative and Automated Driving” (J3224), released in 2022, introduces the Sensor Data Sharing Message (SDSM) as the standard communication message for cooperative perception. This paper investigates the use of the SDSM for a vehicle application to provide warnings of potential collisions with vulnerable road users who will cross the street at the intersection. The application was tested in CARLA simulation under various roadside detection errors and communication conditions to assess the impact on the on-board application and estimate the minimum detection and communication requirements for effective use. In addition, the system was implemented and evaluated at the Mcity test facility. The results demonstrate that the proposed warning system can accurately and promptly warn the driver, given specific communication conditions, and show that the SDSM is viable for real-time on-board usage.