Vehicle-to-Everything (V2X) communication enhances the capability of autonomous driving through better safety, efficiency, and comfort. In particular, sensor data sharing, known as cooperative perception, is a crucial technique to accommodate vulnerable road users in a cooperative intelligent transport system (ITS). In this paper, we describe a roadside perception unit (RSPU) that combines sensors and roadside units (RSUs) for infrastructure-based cooperative perception. We propose a software called AutoC2X that we designed to realize cooperative perception for RSPUs and vehicles. We also propose the concept of networked RSPUs, which is the inter-connection of RSPUs along a road over a wired network, and helps realize broader cooperative perception. We evaluated the RSPU system and the networked RSPUs through a field test, numerical analysis, and simulation experiments. Field evaluation showed that, even in the worst case, our RSPU system can deliver messages to an autonomous vehicle within 100 ms. The simulation result shows that the proposed priority algorithm achieves a wide perception range with a high delivery ratio and low latency, especially under heavy road traffic conditions.

中文翻译：

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联网的自动驾驶路边感知装置。

车辆到一切（V2X）通信通过更好的安全性，效率和舒适性增强了自动驾驶的能力。尤其是，传感器数据共享（称为协作感知）是在协作智能运输系统（ITS）中容纳弱势道路用户的一项关键技术。在本文中，我们描述了一种路边感知单元（RSPU），它将传感器和路边单元（RSU）结合在一起，用于基于基础架构的协作感知。我们提出了一个名为AutoC2X的软件，该软件旨在实现RSPU和车辆的协同感知。我们还提出了网络化RSPU的概念，它是RSPU在有线网络上沿道路的相互连接，有助于实现更广泛的协作感知。我们通过现场测试，数值分析，对RSPU系统和联网的RSPU进行了评估，和模拟实验。现场评估表明，即使在最坏的情况下，我们的RSPU系统也可以在100毫秒内将消息传递到自动驾驶汽车。仿真结果表明，所提出的优先级算法实现了较宽的感知范围，具有较高的传递率和较低的延迟，特别是在交通繁忙的情况下。