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Talkycars: a Distributed Software Platform for Cooperative Perception Among Connected Autonomous Vehicles Based on Cellular-V2X Communication

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Talkycars: a Distributed Software Platform for Cooperative Perception Among Connected Autonomous Vehicles Based on Cellular-V2X Communication Karlsruhe Institute of Technology Fakult¨at fur¨ Elektrotechnik Institut fur¨ Technik der Informationsverarbeitung (ITIV) TalkyCars: A Distributed Software Platform for Cooperative Perception among Connected Autonomous Vehicles based on Cellular-V2X Communication Master's Thesis by B. Sc. Ferdinand Mutsch¨ January 31, 2020 Head of Institute: Prof. Dr.-Ing. Dr. h.c. J. Becker Prof. Dr.-Ing. Eric Sax Prof. Dr. rer. nat W. Stork Author: B. Sc. Ferdinand Mutsch¨ Supervisor: M. Sc. Martin B¨ohme M. Sc. Marco Stang Abstract Autonomous vehicles are required to operate among highly mixed traffic during their early market-introduction phase, solely relying on local sensory with limited range. Ex- haustively comprehending and navigating complex urban environments is potentially not feasible with sufficient reliability using the aforesaid approach. Addressing this challenge, intelligent vehicles can virtually increase their perception range beyond their line of sight by utilizing Vehicle-to-Everything (V2X) communication with surrounding traffic partic- ipants to perform cooperative perception. Since existing solutions face a variety of limi- tations, including lack of comprehensiveness, universality and scalability, this thesis aims to conceptualize, implement and evaluate an end-to-end cooperative perception system using novel techniques. A comprehensive yet extensible modeling approach for dynamic traffic scenes is proposed first, which is based on probabilistic entity-relationship models, accounts for uncertain environments and combines low-level attributes with high-level relational- and semantic knowledge in a generic way. Second, the design of a holistic, distributed software architecture based on edge computing principles is proposed as a foundation for multi-vehicle high-level sensor fusion. In contrast to most existing ap- proaches, the presented solution is designed to rely on Cellular-V2X communication in 5G networks and employs geographically distributed fusion nodes as part of a client-server configuration. A modular proof-of-concept implementation is evaluated in different simu- lated scenarios to assess the system's performance both qualitatively and quantitatively. Experimental results show that the proposed system scales adequately to meet certain minimum requirements and yields an average improvement in overall perception quality of approximately 27 %. Zusammenfassung Autonome Fahrzeuge mussen¨ besonders w¨ahrend ihrer fruhen¨ Markteinfuhrungsphase¨ in der Lage sein, sich in homogenem Mischverkehr zurecht zu finden. Dabei reicht es m¨ogli- cherweise nicht aus, sich lediglich auf die lokale Sensorik mit eingeschr¨ankter Reichweite zu verlassen, um komplexe, innerst¨adtische Verkehrssituationen zuverl¨assig wahrzunehmen. Stattdessen k¨onnen intelligente Fahrzeuge ihre Sensorreichtweite durch den Einsatz von Vehicle-to-Everything (V2X) Kommunikation und Cooperative Perception virtuell uber¨ ihren ursprunglichen¨ Horizont hinaus erweitern. Bisherige Ans¨atze gehen jedoch mit ei- ner Reihe von Einschr¨ankungen einher, da sie oftmals wenig holistisch, nicht ausreichend allgemeingultig¨ oder schwer skalierbar sind. Daher hat diese Masterarbeit das Ziel, ein umfangreiches Cooperative Perception System auf Basis modernster Techniken zu entwer- fen, implementieren und evaluieren. Dazu wird zun¨achst ein umfassender, aber dennoch leicht erweiterbarer Modellierungsansatz fur¨ dynamische Verkehrssituationen vorgestellt, der mithilfe probabilistischer Entity-Relationship Modelle ungewisse Umgebungenswahr- nehmungen unterstutzt¨ und einfache Attribute mit abstrakteren, relationalen und se- mantischen Informationen auf m¨oglichst generische Weise kombiniert. Anschließend wird der Entwurf einer ganzheitlichen, verteilten Software Architektur auf Basis von Edge Computing-Prinzipien als Grundlage fur¨ fahrzeugubergreifende¨ Sensorfusion vorgestellt. Im Gegensatz zu den meisten bestehenden Ans¨atzen setzt unsere L¨osung auf Cellular-V2X Kommunikation in 5G-Netzen und verwendet geographisch verteilte Rechenknoten. Eine modulare Proof-of-Concept Implementierung wird in verschiedenen simulierten Szenarien evaluiert, um das System sowohl qualitativ als auch quantitativ zu bewerten. Entspre- chende Experimente zeigen, dass das vorgestellte System ausreichend gut skaliert, um bestimmte Mindestanforderungen zu erfullen¨ und erzielt eine durchschnittliche Verbesse- rung der Wahrnehmungsqualit¨at von ca. 27 %. Erkl¨arung Ich versichere hiermit, dass ich meine Masterarbeit selbst¨andig und unter Beachtung der Regeln zur Sicherung guter wissenschaftlicher Praxis im Karlsruher Institut fur¨ Technologie (KIT) in der aktuellen Fassung angefertigt habe. Ich habe keine anderen als die angegebenen Quellen und Hilfsmittel benutzt und w¨ortlich oder inhaltlich ubernommene¨ Stellen als solche kenntlich gemacht. Karlsruhe, den 31. Januar 2020 ||||||||||| Ferdinand Mutsch¨ TalkyCars: A Distributed Software Platform for Cooperative Perception among Connected Autonomous Vehicles based on Cellular-V2X Communication Contents 1 Introduction1 1.1 Motivation....................................1 2 Background3 2.1 Autonomous Driving..............................3 2.1.1 Current Status.............................3 2.1.2 Sensor Fusion..............................4 2.1.3 Autonomous Driving Pipeline.....................6 2.2 Vehicle-to-X Communication..........................8 2.2.1 Application Types...........................8 2.2.2 Communication............................. 10 2.3 Cooperative Perception............................. 10 2.3.1 Theory.................................. 10 2.3.2 Use Cases................................ 11 2.4 Edge Computing................................ 12 2.5 5G Cellular Networks.............................. 13 2.6 Geo Tiling.................................... 13 2.6.1 QuadKeys................................ 14 3 Related Work 15 3.1 Environment Modeling & State Representation............... 15 3.2 Cooperative Perception............................. 16 3.3 Cellular V2X Communication......................... 19 3.4 Summary.................................... 19 4 Problem Analysis 21 4.1 Limitations of Prior Work........................... 21 4.2 Traffic Volume Estimation........................... 22 4.2.1 Methodology & Results......................... 22 4.2.2 Conclusion................................ 25 4.3 Goals & Requirements............................. 26 4.3.1 Environment Modeling & State Representation........... 26 4.3.2 Cooperative Perception System.................... 26 4.4 Scope...................................... 27 TalkyCars: A Distributed Software Platform for Cooperative Perception among Connected Autonomous Vehicles based on Cellular-V2X Communication 5 Concept & Design 29 5.1 Environment Modeling & State Representation............... 29 5.1.1 Object-Level Representation & Fusion................ 29 5.1.2 Principles of Dynamic World Modeling................ 31 5.1.3 Discrete Environment Model with Occupancy Tiles......... 32 5.1.4 Probabilistic Entity Relationship Model for Cooperative Perception 33 5.1.5 Final Model............................... 36 5.1.6 Summary................................ 37 5.2 Cellular Communication............................ 39 5.2.1 5G Usage Scenarios & Advantages.................. 39 5.2.2 Vehicle-to-Network-to-Everything Communication Topology.... 40 5.2.3 Summary................................ 41 5.3 System Architecture.............................. 42 5.3.1 Central Fusion Nodes.......................... 42 5.3.2 Geographical Partitioning....................... 43 5.3.3 Messaging & Further Considerations................. 44 5.3.4 Components Overview......................... 46 5.3.5 Summary................................ 48 5.4 Fusion...................................... 49 5.4.1 Goals................................... 49 5.4.2 Problem Statement........................... 50 5.4.3 Scope.................................. 51 5.4.4 Open- & Closed World Assumption.................. 51 5.4.5 Mechanism: Time-Decayed Weighted Average............ 53 5.4.6 Architecture: Doubly Updated Merging................ 55 5.4.7 Summary................................ 56 5.5 Conclusion.................................... 56 6 Implementation 57 6.1 Meta Model, Representation- & Message Format............... 57 6.1.1 Object-Oriented Model......................... 57 6.1.2 Serialization Format.......................... 59 6.2 Simulation Environment............................ 60 6.3 Server-Side Software Components....................... 63 6.3.1 Message Broker............................. 63 6.3.2 Talky Fusion Node........................... 65 6.3.3 Web Visualization............................ 66 6.4 On-Board Client-Side Software Components................. 67 6.4.1 Simulator Bridge............................ 67 6.4.2 Talky Client............................... 69 6.5 Configurable Parameters............................ 72 6.5.1 Simulation Parameters......................... 72 6.5.2 Scene Parameters............................ 73 6.5.3 Cooperative Perception Parameters.................. 73 6.6 Open-Source Contributions........................... 74 6.7 Summary.................................... 74 7 Evaluation 77 7.1 Performance Evaluation............................ 77 7.1.1 Methodology.............................. 78 7.1.2 Results.................................. 81 7.1.3 Discussion & Conclusion........................ 84 7.2 End-to-end Evaluation............................. 85 7.2.1 Methodology.............................
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