Perceived Safety: A New Metric for Evaluating Safety Benefits of Collective Perception for Connected Road Users

摘要

This paper proposes the concept of perceived safety to quantitatively evaluate the safety benefits of collective perception to connected road users in safety critical scenarios. It is assumed that connected vehicles and infrastructure network transmit collective perception messages (CPMs) that contain not only basic information about the transmitter, but also key information about other objects detected via its on-board sensors. The detected objects may include non-connected road users that could be either occluded or out of the sensor range of the other connected road users. Our perceived safety framework provides a systematic way to determine when information perceived by a vehicle is sufficient to safely perform a given maneuver based on the sensory set, wireless connectivity, and dynamics of the ego vehicle. We illustrate the perceived safety framework by considering a lane change scenario, and show by simulations that CPMs enhance the ability of connected automated vehicles to perform safe lane changes.