Collective perception and decentralized congestion control in vehicular ad-hoc networks

In conjunction with automated vehicles, Inter-Vehicle Communication represents the next `big thing' towards the vision of cooperative driving, where road participants share information about their planned behaviour and where hazardous situations are solved or avoided jointly. Several requirements need to be fulfilled to reach this long-term goal. One requirement is a common information base, where all road participants are fully aware of each other. The idea of collective perception contributes to this common information base by sharing local sensor data with other road participants. Whereas most related work focuses on the aspects of sensor data fusion, we focus on the implications of an ETSI ITS G5 based network for collective perception. We present and analyse different message formats and dissemination variants for sharing sensor data. Their usability is validated in an extensive microscopic simulation study. In particular, implications caused by Decentralized Congestion Control as proposed by standardisation are assessed in a constrained environment with hundreds of vehicles.