The Components of Cooperative Perception - a Proposal for Future Works
Christoph Pilz, Andrea Ulbel, Gerald Steinbauer-Wagner
Abstract
Vehicle-to-Anything (V2X) communication is a research topic in automated driving, with recent activities also focused on cooperative perception (CP). The research field of CP is complex, with many sub-fields using different approaches. In this paper, CP will be analyzed from a systems perspective to provide an overview of the challenges that need to be addressed. Starting from the system level, the individual components of sensing, communication, and fusion will be analyzed for existing challenges and approaches to addressing them. In this work, the approaches are analyzed for strengths and weaknesses and, most importantly, for the individual questions that remain unanswered. Finally, new questions are raised about the interaction of components. In summary, this paper provides a comprehensive overview of existing CP research, existing challenges, and open questions that have not yet been addressed.