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

TL;DR

This paper identifies open research challenges that must be adequately investigated to satisfactorily deploy CPS redundancy mitigation measures and presents a unique taxonomy of the redundancy mitigation approaches proposed using three distinct classifications: object inclusion filtering, data format optimisation, and frequency management.

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.

Figures (11)

• Figure 1: Timeline of the ETSI CPS standard and associated standards that inform proposed redundancy mitigation techniques.
• Figure 2: Definition of the ETSI CPM packet structure according to ETSI TS 103 324 V2.1.1 (2023-06).
• Figure 3: Visual representation of the data in (a) the CPM management container and (b-d) the originating vehicle container.
• Figure 4: Visual representation of the data captured by SIC, PRC, POC instances in the CPM container.
• Figure 5: Summary of the CPM Generation Process including optional Object Inclusion Rules.