Browsing by Author "COSTA, TIAGO FILIPE LONGO"
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- Co-simulation of vehicle distributed perception for road safety applicationsPublication . COSTA, TIAGO FILIPE LONGO; Severino, Ricardo Augusto Rodrigues da SilvaThe fast evolution of autonomous vehicles has introduced many new challenges, especially in perception, communication reliability, and energy efficiency. Traditional autonomous vehicles rely on onboard sensors, which are traditionally limited by range, computational cost, and occlusions. The goal of this thesis is to explore the integration of distributed perception systems to enhance situational awareness and improve autonomous vehicles decision-making. This work introduces an extension of the previously established co-simulation framework of Oliveira 2023 and Ribeiro 2024. The solution expands the capabilities of autonomous vehicles to sense beyond the onboard sensors while facilitating safe and efficient merging under different traffic conditions using roadside cameras and a roadside unit. The framework incorporates YOLO-based object detection with trilateration to combine data from a multicamera setup for improved localization accuracy and detection robustness across various traffic conditions. The experimental results show that compared to single-camera configurations, multi-camera fusion significantly increased recall and improved localization levels in conditions with different traffic and perception conditions. The roadside unit can also identify gaps for a safe and efficient merging and provide a target speed to the ego-vehicle via a simulated V2X communication. Overall, the proposed framework demonstrates the feasibility of infrastructure-assisted cooperative perception, providing a realistic and extensible testbed for future research in distributed perception, sensor fusion, and V2X communication for road safety applications.