arXiv:2602.23051cs.RO2026-02中稿 · publication in IEE…

提出新风险指标RTL,评估遮挡时的追踪丢失风险,指导车联网部署策略。

An Empirical Analysis of Cooperative Perception for Occlusion Risk Mitigation

  • 引入实时风险累积指标RTL,量化遮挡期间的持续威胁。
  • 75%-90%车联网渗透率才能显著降低风险,但25%非对称通信即可超75%对称效果。
  • 适合关注智能网联车安全落地的工程师与政策制定者。

遮挡对智能网联车辆感知系统构成重大挑战,传统风险指标难以捕捉其随时间累积的特性。本文提出一种新型通用风险评估指标——追踪丢失风险(Risk of Tracking Loss, RTL),通过聚合遮挡时段内的瞬时风险强度,构建涵盖高强短时威胁与长期暴露的全局风险图谱。基于多种高保真真实世界数据集,开展大规模统计分析以刻画遮挡风险并验证该指标有效性。将该指标应用于评估不同车-云通信(V2X)部署策略,发现全量部署理论上可消除风险,但风险下降具有高度非线性特征,需75%-90%渗透率才产生显著统计效益。为突破此瓶颈,提出一种新型非对称通信框架,使未联网车辆也能接收预警。实验表明,该范式在25%渗透率下的风险缓解效果优于传统对称模型在75%渗透率的表现,且性能饱和仅需50%渗透率。本研究提供了关键风险评估工具与低成本、高效的V2X安全部署路径。

原文摘要 · Abstract (English)

Occlusions present a significant challenge for connected and automated vehicles, as they can obscure critical road users from perception systems. Traditional risk metrics often fail to capture the cumulative nature of these threats over time adequately. In this paper, we propose a novel and universal risk assessment metric, the Risk of Tracking Loss (RTL), which aggregates instantaneous risk intensity throughout occluded periods. This provides a holistic risk profile that encompasses both high-intensity, short-term threats and prolonged exposure. Utilizing diverse and high-fidelity real-world datasets, a large-scale statistical analysis is conducted to characterize occlusion risk and validate the effectiveness of the proposed metric. The metric is applied to evaluate different vehicle-to-everything (V2X) deployment strategies. Our study shows that full V2X penetration theoretically eliminates this risk, the reduction is highly nonlinear; a substantial statistical benefit requires a high penetration threshold of 75-90%. To overcome this limitation, we propose a novel asymmetric communication framework that allows even non-connected vehicles to receive warnings. Experimental results demonstrate that this paradigm achieves better risk mitigation performance. We found that our approach at 25% penetration outperforms the traditional symmetric model at 75%, and benefits saturate at only 50% penetration. This work provides a crucial risk assessment metric and a cost-effective, strategic roadmap for accelerating the safety benefits of V2X deployment.

车联网风险评估自动驾驶通信架构

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