[Proposal] Non-line-of-sight Detection using V2X

[brian841102]

On behalf of ITRI, I would like to propose the implementation of a feature to detect non-line-of-sight objects using V2X communication and avoid unexpected crash

Motivation

Current methods of sensing (Lidar, vision-based & radar) have high computational overhead but are unable to reliably detect and classify vehicles out of the sight . Integration of V2X capability will enable more robust and reliable detection of these scenarios.
The proposal is to add a V2X Sensing and Perception module to the existing Autoware stack.
The V2X ITS standard has BSM message defined, which can be used for this application. All vehicles equipped with a V2X OBU broadcast BSM as a standard.
BSM message contains NLOS vehicle information like speed poistion and tracking id etc. This can be used for reliable object detection and can be fused with other sensor data.

High-level Architecture

V2X OBU Driver

This module will receive decoded V2X packets from the OBU and publishes V2X Messages as required by the V2X Adapter/ Perception modules.

Input: Decoded V2X UDPPackets from OBU
Output: /v2x_objects

V2X Adapter Module

This module will process V2X messages and publish data in Autoware specific message format. This module provides conversion of data between different regions. For the NLOS Detection application, the input & output message types are as follows:

Input: /v2x_objects
Output: /v2x/radar_objects

V2X Perception Module

The existing perception module will receive all messages and merge both the objects from sensenig pipline and v2x pipeline, and generate a list of objects.

Input: /v2x/radar_objects
Output: /perception/object_recognition/objects

Architecture