CoPEM: Cooperative Perception Error Models for Autonomous Driving

Andrea Piazzoni, Jim Cherian, Roshan Vijay, Lap Pui Chau, Justin Dauwels

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)

Abstract

In this paper, we introduce the notion of Cooperative Perception Error Models (coPEMs) towards achieving an effective and efficient integration of V2X solutions within a virtual test environment. We focus our analysis on the occlusion problem in the (onboard) perception of Autonomous Vehicles (AV), which can manifest as misdetection errors on the occluded objects. Cooperative perception (CP) solutions based on Vehicle-to-Everything (V2X) communications aim to avoid such issues by cooperatively leveraging additional points of view for the world around the AV. This approach usually requires many sensors, mainly cameras and LiDARs, to be deployed simultaneously in the environment either as part of the road infrastructure or on other traffic vehicles. However, implementing a large number of sensor models in a virtual simulation pipeline is often prohibitively computationally expensive. Therefore, in this paper, we rely on extending Perception Error Models (PEMs) to efficiently implement such cooperative perception solutions along with the errors and uncertainties associated with them. We demonstrate the approach by comparing the safety achievable by an AV challenged with a traffic scenario where occlusion is the primary cause of a potential collision.

Original languageEnglish
Title of host publication2022 IEEE 25th International Conference on Intelligent Transportation Systems, ITSC 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3934-3939
Number of pages6
ISBN (Electronic)9781665468800
DOIs
Publication statusPublished - Nov 2022
Externally publishedYes
Event25th IEEE International Conference on Intelligent Transportation Systems, ITSC 2022 - Macau, China
Duration: 8 Oct 202212 Oct 2022

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Volume2022-October

Conference

Conference25th IEEE International Conference on Intelligent Transportation Systems, ITSC 2022
Country/TerritoryChina
CityMacau
Period8/10/2212/10/22

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications

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