Performance Assessment of Intent Sharing in Infrastructure-Assisted Cooperative Perception Services

In traditional cooperative awareness (CA) and co-operative perception (CP), connected vehicles exchange periodic messages containing their current status and perceived objects. This paper investigates the concept of intent sharing-based cooperative perception (IBCP) for connected vehicles. IBCP introduces a more interactive framework wherein an ego vehicle communicates its intent (i.e., future trajectory), while other connected road users and infrastructure share alerts concerning potential conflicts with the ego vehicle. We compare and analyze the performance of the IBCP protocol in contrast to the existing CA and CP systems. We use experimental data and simulated scenarios to assess the manifold benefits that IBCP brings to a platoon of vehicles executing a left turn at an intersection. Our evaluation parameters encompass safety improvements, enhanced situational awareness, heightened comfort levels, and the mitigation of disruptions within the vehicular platoon.