DOI: 10.5281/zenodo.7348924
title: NL, Extended Sensors, Extended sensors with CPM messages

description: Use Case Category: <strong>Extended Sensors</strong><br> User Story: <strong>Extended sensors with CPM messages</strong><br> Location: Dutch (NL) trial site According to 3GPP TS 22.186 R16, Extended Sensors “enable the exchange of raw or processed data gathered through local sensors or live video data among vehicles, RSUs, devices of pedestrians and V2X application servers. The vehicles can enhance the perception of their environment beyond what their own sensors can detect and have a more holistic view of the local situation”. User Story: <strong>Extended sensors with CPM messages</strong> The objective of this user story is to enhance the environmental perception of vehicles by enabling the real-time data exchange between vehicles and RSU. AD vehicles with Level 4 capability require predictive information of environment sufficiently ahead in time. AD vehicles are equipped with on-board sensors, however, with limited range to detect objects and obstacles. CPE extends this range by providing perception of areas not visible to the vehicle sensors due to curves, corners or obstacles in the roads. AD vehicles equipped with 5G technology could share raw sensor data from cameras, LIDAR, etc. or share pre-processed data such as dynamic objects and planned trajectories as the Collective Perception Message (CPM). Additionally, other driving condition data such as weather situation and traffic information can be shared. gNodeB can act as a hub to relay pre-processed data in low resolution or raw data in high resolution, or (in case of MEC) combined data from different vehicles. Exchanging high resolution perception data in real-time requires high bandwidth and low latency communication as promised by 5G (eMBB, uRLLC). In the NL trial, CPE will be evaluated in a cooperative merging scenario at the on-ramp from Nuenen to A270 motorway on the route from Helmond to Eindhoven. Traffic information from the roadside sensors (fixed cameras from SISSBV) will be utilized for a safe merging scenario. There are two connected vehicles in this scenario. The first vehicle is driving from Helmond on A270 and arriving close to the on-ramp from Nuenen while the second vehicle is driving from Nuenen and is arriving close to the ramp to finally merge in the A270. The second vehicle has no information about the traffic situation on the A270 due to its limited field-of-view. The vehicles are connected to two different networks; namely KPN and TNO. Both vehicles send requests to their respective gNodeBs to obtain each other’s environmental information. Collective Perception Service aggregates/fuses CPM messages from vehicles and roadside sensors. The gNodeBs send aggregated CPM messages from the Collective Perception Service to the vehicles. Both vehicles will therefore be aware of each other’s presence and anticipate on it accordingly. When in proximity vehicles also receive CPM messages over C-V2V. Upon request, vehicles can ask for more detailed data about a region, by exchanging pre-processed or raw sensor. The second vehicle can now evaluate and determine its merging possibilities in real time considering safety and traffic situation. When the second vehicle is on the on-ramp, it sends its decision to the first vehicle to make it aware about its merging action. Hence, a safe and efficient merging manoeuvre can be achieved using CPE and exploiting the capabilities of 5G.