Implementation and Latency Assessment of a Prototype for C-ITS Collective Perception
Nowadays, services in the framework of Cooperative Intelligent Transport Systems (C-ITS) are evolving to tackle more complex scenarios. The State-of-Art C-ITS messages focus on the sharing of information about specific events, hazards or about the position and dynamic status of connected vehicles. New C-ITS services are currently being developed to enable connected road actors to share detailed information gathered from local sensors. The aim is to create a Collective Perception that provides a better knowledge of the surrounding environment at the vehicle-side. In this paper, we focus on a collective perception service that a roadside unit implements to provide information from fixed sensors to connected vehicles. The contribution of this paper is the implementation of a prototype of a collective perception service according to ETSI standards. The prototype includes the development of a platform that processes the sensors’ raw data to obtain usable information to share along with a communication facility for sharing the information through specific C-ITS messages. Further contribution concerns the assessment of the end-to-end latency of this service in the developed prototype. The measurements show that the required time to provide the information from the roadside unit to the vehicle is below the threshold recommended in relevant standards. A latency of 250 ms has been estimated for first-time detected objects, while the latency of already tracked objects is of 157 ms. This confirms the viability of the prototype for effectively providing useful information to connected vehicles.
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