Deployment and Performance of Infrastructure to Assist Vehicular Collaborative Sensing

摘要

To enable situational awareness for automated driving in intelligent transportation systems (ITS), it is envisioned that vehicles will be equipped with sensors, and possibly perform collaborative sensing amongst themselves. Unfortunately such sensing is subject to obstructions, e.g., other vehicles, and the performance can be poor when the penetration of collaborating vehicles is low. A possible solution is to deploy sensing and communication capable infrastructure, e.g., road side units (RSUs) and base stations (BSs), to assist collaborative sensing. This paper explores the performance of infrastructure assisted sensing of roads under various deployment schemes. Our analytical results show that deploying RSUs at intersections and at even spacings is most efficient in covering the roads while cellular based sensors may subject to building obstructions and should be located along roads working as RSUs. RSUs located above the vehicles can have 100% coverage of vehicles once the communication range is large enough to reach relevant sensors. Infrastructure provides a second advantage in providing a dynamic view of the road and thus better coverage over time. Such benefit from sensing temporal diversity is shared by vehicles moving in the opposite direction, yet collaborating with such vehicles involves more challenging V2V communication given the high relative speed and obstruction unless leveraging V2I relays.