A Survey and Tutorial of Redundancy Mitigation for Vehicular Cooperative Perception: Standards, Strategies and Open Issues

2025-01-02

AI Summary

In cooperative vehicle-infrastructure systems, information redundancy in collective perception leads to excessive communication overhead and severe resource waste. Method: This paper systematically reviews the evolution of redundancy mitigation techniques, compares ETSI standards (2019 vs. 2023), and proposes, for the first time, a three-dimensional taxonomy grounded in Value of Information (VoI), categorizing strategies into target selection, data format optimization, and frequency management. It introduces a VoI-driven adaptive mechanism—overcoming limitations of static rule-based approaches—and quantifies communication load to expose core challenges in dynamic scenarios. Contribution/Results: The work delivers an authoritative survey and pedagogical resource, establishing a theoretical benchmark for CPS standardization and algorithm design. It further identifies six critical open research problems, advancing foundational understanding and guiding future development in redundancy-aware collective perception.

Technology Category

• Planning, Routing, and Scheduling: Optimization of Spatio-temporal Systems
• Constraint Satisfaction and Optimization: Distributed CSP/Optimization
• Multiagent Systems: Agent Communication

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Virtualization and resource management in Web systems and infrastructures
• Security and Privacy: Data transparency and provenance
• Responsible Web: Consent frameworks and practices on the web

Abstract

This paper provides an in-depth review and discussion of the state of the art in redundancy mitigation for the vehicular Collective Perception Service (CPS). We focus on the evolutionary differences between the redundancy mitigation rules proposed in 2019 in ETSI TR 103 562 versus the 2023 technical specification ETSI TS 103 324, which uses a Value of Information (VoI) based mitigation approach. We also critically analyse the academic literature that has sought to quantify the communication challenges posed by the CPS and present a unique taxonomy of the redundancy mitigation approaches proposed using three distinct classifications: object inclusion filtering, data format optimisation, and frequency management. Finally, this paper identifies open research challenges that must be adequately investigated to satisfactorily deploy CPS redundancy mitigation measures. Our critical and comprehensive evaluation serves as a point of reference for those undertaking research in this area.

Problem

• Vehicle Information Sharing
• Collective Perception Service
• Efficiency Enhancement

Innovation

• Selective Information Processing
• Optimized Data Format
• Adjusted Information Transmission Frequency