A Distance-Based Redundancy Mitigation Mechanism for Collective Perception in Vehicular Networks

This paper proposes a hybrid distance- and self-announcement-based (DSA) mechanism for improving the efficiency of collective perception in connected and autonomous vehicle (CAV) networks. The study assesses the performance of no redundancy mitigation rules (RMR), self-announcement (SA) RMR, and the proposed DSA RMR across different market penetration rates. Key metrics such as redundancy level (RL), channel busy ratio (CBR), and environment awareness ratio (EAR) are analyzed. The results show that DSA consistently outperforms the other methods in balancing redundancy, channel load, and environmental awareness, particularly at higher market penetration rates.