Vehicle-to-Everything Cooperative Perception for Autonomous Driving
This is an incremental survey paper that synthesizes existing research to guide future work in improving safety and efficiency for autonomous driving systems.
This paper surveys vehicle-to-everything cooperative perception for autonomous driving, addressing the problem of limited sensing in individual vehicles by enabling data sharing to enhance situational awareness, and it reviews techniques like agent selection and feature fusion while discussing challenges such as communication constraints.
Achieving fully autonomous driving with enhanced safety and efficiency relies on vehicle-to-everything cooperative perception, which enables vehicles to share perception data, thereby enhancing situational awareness and overcoming the limitations of the sensing ability of individual vehicles. Vehicle-to-everything cooperative perception plays a crucial role in extending the perception range, increasing detection accuracy, and supporting more robust decision-making and control in complex environments. This paper provides a comprehensive survey of recent developments in vehicle-to-everything cooperative perception, introducing mathematical models that characterize the perception process under different collaboration strategies. Key techniques for enabling reliable perception sharing, such as agent selection, data alignment, and feature fusion, are examined in detail. In addition, major challenges are discussed, including differences in agents and models, uncertainty in perception outputs, and the impact of communication constraints such as transmission delay and data loss. The paper concludes by outlining promising research directions, including privacy-preserving artificial intelligence methods, collaborative intelligence, and integrated sensing frameworks to support future advancements in vehicle-to-everything cooperative perception.