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MATTIA ANDREANI
Dottorando Dipartimento di Ingegneria "Enzo Ferrari"
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Pubblicazioni
2023
- A Statistical Characterization of the Actual Cooperative Perception Messages and a Generative Model to Reproduce Them
[Relazione in Atti di Convegno]
Andreani, M.; Lusvarghi, L.; Merani, M. L.
abstract
This paper provides two novel contributions to
vehicular cooperative perception. Firstly, it puts forth an approach to generate the actual perception messages broadcasted
by connected autonomous vehicles. Relying on data gathered
by autonomous vehicles and originally collected for computer
vision purposes, it produces perception messages in accordance
with the standard ETSI rules. The statistical properties of the
messages are determined, showing that their size is remarkably
affected by the driving scenario and the policy adopted to
discern when an object is seen by the vehicle, and to a lesser
extent by the selection of the message generation frequency.
Secondly, the paper proposes a generative model to synthetically
replicate the sequences of perception messages. The ability of
the model to successfully capture the characteristics and the
temporal correlation of the real data is demonstrated in a
reference scenario. The model adoption is promising in largescale numerical simulations, where the perception messages of
many vehicles have to be faithfully reproduced.