Message Content Control For Distributed Map Sharing In Vehicle Safety Communications

By providing information about the objects that are non-line of sight and/or beyond the detection range of the local sensors, inter-vehicle communication compensates for the limitations of vehicle tracking subsystem in automated driving systems that relies on on-board sensing devices. Tracking capability in such systems can further be improved by making optimal use of the communication channel through sharing of locally created map data instead of transmitting only beacon messages. While map data are collected from both sensor and communicated information, exchanging a subset of the local map requires some sort of content control scheme in place to ensure that useful information is being exchanged among vehicles that would enhance tracking accuracy. This paper investigates how information sharing based on proximity of mapped objects impact the position tracking capability. It also compares deterministic and probabilistic variants of the distance based content control approaches. Preliminary results show that exchanging information about objects located near the edge of sensor range increases the tracking performance. It is also shown that the probabilistic approaches have higher mapping accuracy than their deterministic counterparts.