Filtering Noise: A Real-World Evaluation of False Associations in V2X-Based Sensor Sharing Across Diverse Road Users

Kurzfassung

The Collective Perception Service (CPS) enables vehicles and infrastructure to cooperatively share local sensor measurements to extend their perception range for a more comprehensive understanding of their environment. At the request of ETSI and to hasten deployment, this paper explores the feasibility of proposing a 'simple' pre-filter that will attempt to discard measurements that would be falsely associated based on a position error measure-based threshold. We find that implementing such a filter is complex and highly dependent on the environmental topology, road user type, geo- spatial density and temporal factors. Specifically, we investigate false associations under different sensor error ranges for diverse road users across 4 urban intersections, detailing their causation. We discuss the challenges in setting a distance measure-based threshold and evaluate its implications as a pre-filter to reduce the number of false and weakly associated objects in a CPM.