Abstract:
Autonomous driving systems are fundamentally composed of sequential modular tasks, i.e., perception, prediction, and planning. For connected autonomous vehicles (CAVs), c...Show MoreMetadata
Abstract:
Autonomous driving systems are fundamentally composed of sequential modular tasks, i.e., perception, prediction, and planning. For connected autonomous vehicles (CAVs), cooperative perception offers a promising solution to surpass their perception limitations, such as occlusion, by sharing sensing data with each other through wireless communication. Existing works typically prioritize sharing data from potential object-containing areas to maximize object detection accuracy under constrained communication resources. However, such detection-oriented approaches ignore a crucial fact that more accurate detection does not equal safer planning. Sharing large amounts of sensing data for detection accuracy can lead to communication resource wastage and performance degradation of subsequent driving tasks. To address this, we introduce Plan2comm, a communication-efficient cooperative perception framework via planning-oriented feature sharing, which shares only sensing data around planned trajectories to enable safer planning rather than mere detection accuracy. Specifically, a planning-oriented communication mechanism is designed to select and transmit the most valuable features from the perspective of the planning task. Moreover, an uncertainty-aware spatial-temporal feature fusion strategy is proposed to enhance high-quality information aggregation. Comprehensive experiments demonstrate that Plan2comm outperforms all other cooperative perception methods on motion prediction performance, and is more communication-efficient.
Published in: IEEE Transactions on Mobile Computing ( Volume: 24, Issue: 4, April 2025)
Funding Agency:
Tianjin Key Laboratory of Advanced Networking (TANK), College of Intelligence and Computing, Tianjin University, Tianjin, China
Qi Xie (Graduate Student Member, IEEE) received the bachelor's degree from Dalian Maritime University (DMU), Dalian, China, in 2019. Currently, she is working toward the PhD degree in software engineering with the College of Intelligence and Computing, Tianjin University (TJU), Tianjin, China. She is also a member of the Tianjin Advanced Networking Key Laboratory (TANK Lab). Her research focus on the vehicular networks, i...Show More
Qi Xie (Graduate Student Member, IEEE) received the bachelor's degree from Dalian Maritime University (DMU), Dalian, China, in 2019. Currently, she is working toward the PhD degree in software engineering with the College of Intelligence and Computing, Tianjin University (TJU), Tianjin, China. She is also a member of the Tianjin Advanced Networking Key Laboratory (TANK Lab). Her research focus on the vehicular networks, i...View more
Tianjin Key Laboratory of Advanced Networking (TANK), College of Intelligence and Computing, Tianjin University, Tianjin, China
Xiaobo Zhou (Senior Member, IEEE) received the BSc degree in electronic information science and technology from the University of Science and Technology of China (USTC), Hefei, China, the ME degree in computer application technology from the Graduate University of Chinese Academy of Science (GUCAS), Beijing, China, and the PhD degree in information science from the School of Information Science, Japan Advanced Institute o...Show More
Xiaobo Zhou (Senior Member, IEEE) received the BSc degree in electronic information science and technology from the University of Science and Technology of China (USTC), Hefei, China, the ME degree in computer application technology from the Graduate University of Chinese Academy of Science (GUCAS), Beijing, China, and the PhD degree in information science from the School of Information Science, Japan Advanced Institute o...View more
Tianjin Key Laboratory of Advanced Networking (TANK), College of Intelligence and Computing, Tianjin University, Tianjin, China
Tianyu Hong received the bachelor's degree in engineering from China Agricultural University, Beijing, China, in 2023. Currently, he is working toward the master's degree in computer science and technology with the College of Intelligence and Computing, Tianjin University (TJU), Tianjin, China. He is also a member of the Smart IoT Laboratory. His research focuses on vehicular networks, intelligent connected vehicles, and ...Show More
Tianyu Hong received the bachelor's degree in engineering from China Agricultural University, Beijing, China, in 2023. Currently, he is working toward the master's degree in computer science and technology with the College of Intelligence and Computing, Tianjin University (TJU), Tianjin, China. He is also a member of the Smart IoT Laboratory. His research focuses on vehicular networks, intelligent connected vehicles, and ...View more
Tianjin Key Laboratory of Advanced Networking (TANK), College of Intelligence and Computing, Tianjin University, Tianjin, China
Wenkai Hu received the bachelor's degree from Zhengzhou University (ZZU), Zhengzhou, China, in 2024. Currently, he is working toward the master's degree in computer science and technology with the College of Intelligence and Computing, Tianjin University (TJU), Tianjin, China. He is also a member of the Tianjin Advanced Networking Key Laboratory (TANK Lab). His research focus on the vehicular networks, intelligent connect...Show More
Wenkai Hu received the bachelor's degree from Zhengzhou University (ZZU), Zhengzhou, China, in 2024. Currently, he is working toward the master's degree in computer science and technology with the College of Intelligence and Computing, Tianjin University (TJU), Tianjin, China. He is also a member of the Tianjin Advanced Networking Key Laboratory (TANK Lab). His research focus on the vehicular networks, intelligent connect...View more
Tianjin Key Laboratory of Advanced Networking (TANK), College of Intelligence and Computing, Tianjin University, Tianjin, China
Wenyu Qu (Member, IEEE) received the BS degree in information science and the MS degree in engineering mechanics from the Dalian University of Technology, Dalian, China, in 1994 and 1997, respectively, and the PhD degree in applied mathematics from the Japan Advanced Institute of Science and Technology, Nomi, Japan, in 2006. She is currently a professor with the School of Computer Software, Tianjin University, Tianjin, Ch...Show More
Wenyu Qu (Member, IEEE) received the BS degree in information science and the MS degree in engineering mechanics from the Dalian University of Technology, Dalian, China, in 1994 and 1997, respectively, and the PhD degree in applied mathematics from the Japan Advanced Institute of Science and Technology, Nomi, Japan, in 2006. She is currently a professor with the School of Computer Software, Tianjin University, Tianjin, Ch...View more
Tianjin Key Laboratory of Advanced Networking (TANK), College of Intelligence and Computing, Tianjin University, Tianjin, China
Tie Qiu (Senior Member, IEEE) is currently a full professor with the School of Computer Science and Technology, Tianjin University, China. Prior to this position, he held assistant professor in 2008 and associate professor in 2013 with the School of Software, Dalian University of Technology. He was a visiting professor with the Department of electrical and computer engineering of Iowa State University in U.S. (2014–2015)....Show More
Tie Qiu (Senior Member, IEEE) is currently a full professor with the School of Computer Science and Technology, Tianjin University, China. Prior to this position, he held assistant professor in 2008 and associate professor in 2013 with the School of Software, Dalian University of Technology. He was a visiting professor with the Department of electrical and computer engineering of Iowa State University in U.S. (2014–2015)....View more
Contents Tianjin Key Laboratory of Advanced Networking (TANK), College of Intelligence and Computing, Tianjin University, Tianjin, China
Qi Xie (Graduate Student Member, IEEE) received the bachelor's degree from Dalian Maritime University (DMU), Dalian, China, in 2019. Currently, she is working toward the PhD degree in software engineering with the College of Intelligence and Computing, Tianjin University (TJU), Tianjin, China. She is also a member of the Tianjin Advanced Networking Key Laboratory (TANK Lab). Her research focus on the vehicular networks, intelligent connected vehicle, and cooperative perception.
Qi Xie (Graduate Student Member, IEEE) received the bachelor's degree from Dalian Maritime University (DMU), Dalian, China, in 2019. Currently, she is working toward the PhD degree in software engineering with the College of Intelligence and Computing, Tianjin University (TJU), Tianjin, China. She is also a member of the Tianjin Advanced Networking Key Laboratory (TANK Lab). Her research focus on the vehicular networks, intelligent connected vehicle, and cooperative perception.View more
Tianjin Key Laboratory of Advanced Networking (TANK), College of Intelligence and Computing, Tianjin University, Tianjin, China
Xiaobo Zhou (Senior Member, IEEE) received the BSc degree in electronic information science and technology from the University of Science and Technology of China (USTC), Hefei, China, the ME degree in computer application technology from the Graduate University of Chinese Academy of Science (GUCAS), Beijing, China, and the PhD degree in information science from the School of Information Science, Japan Advanced Institute of Science and Technology (JAIST), Ishikawa, Japan, in 2007, 2010, and 2013, respectively. From April 2014 to March 2015, he was a researcher with the Department of Communications Engineering, University of Oulu, Oulu, Finland. Currently, he is a professor with the School of Computer Science and Technology, College of Intelligence and Computing, Tianjin University, Tianjin, China. His research interests include Internet of Things, cloud computing, data center networks, vehicular networks, and mobile edge computing.
Xiaobo Zhou (Senior Member, IEEE) received the BSc degree in electronic information science and technology from the University of Science and Technology of China (USTC), Hefei, China, the ME degree in computer application technology from the Graduate University of Chinese Academy of Science (GUCAS), Beijing, China, and the PhD degree in information science from the School of Information Science, Japan Advanced Institute of Science and Technology (JAIST), Ishikawa, Japan, in 2007, 2010, and 2013, respectively. From April 2014 to March 2015, he was a researcher with the Department of Communications Engineering, University of Oulu, Oulu, Finland. Currently, he is a professor with the School of Computer Science and Technology, College of Intelligence and Computing, Tianjin University, Tianjin, China. His research interests include Internet of Things, cloud computing, data center networks, vehicular networks, and mobile edge computing.View more
Tianjin Key Laboratory of Advanced Networking (TANK), College of Intelligence and Computing, Tianjin University, Tianjin, China
Tianyu Hong received the bachelor's degree in engineering from China Agricultural University, Beijing, China, in 2023. Currently, he is working toward the master's degree in computer science and technology with the College of Intelligence and Computing, Tianjin University (TJU), Tianjin, China. He is also a member of the Smart IoT Laboratory. His research focuses on vehicular networks, intelligent connected vehicles, and cooperative perception.
Tianyu Hong received the bachelor's degree in engineering from China Agricultural University, Beijing, China, in 2023. Currently, he is working toward the master's degree in computer science and technology with the College of Intelligence and Computing, Tianjin University (TJU), Tianjin, China. He is also a member of the Smart IoT Laboratory. His research focuses on vehicular networks, intelligent connected vehicles, and cooperative perception.View more
Tianjin Key Laboratory of Advanced Networking (TANK), College of Intelligence and Computing, Tianjin University, Tianjin, China
Wenkai Hu received the bachelor's degree from Zhengzhou University (ZZU), Zhengzhou, China, in 2024. Currently, he is working toward the master's degree in computer science and technology with the College of Intelligence and Computing, Tianjin University (TJU), Tianjin, China. He is also a member of the Tianjin Advanced Networking Key Laboratory (TANK Lab). His research focus on the vehicular networks, intelligent connected vehicle, and cooperative perception.
Wenkai Hu received the bachelor's degree from Zhengzhou University (ZZU), Zhengzhou, China, in 2024. Currently, he is working toward the master's degree in computer science and technology with the College of Intelligence and Computing, Tianjin University (TJU), Tianjin, China. He is also a member of the Tianjin Advanced Networking Key Laboratory (TANK Lab). His research focus on the vehicular networks, intelligent connected vehicle, and cooperative perception.View more
Tianjin Key Laboratory of Advanced Networking (TANK), College of Intelligence and Computing, Tianjin University, Tianjin, China
Wenyu Qu (Member, IEEE) received the BS degree in information science and the MS degree in engineering mechanics from the Dalian University of Technology, Dalian, China, in 1994 and 1997, respectively, and the PhD degree in applied mathematics from the Japan Advanced Institute of Science and Technology, Nomi, Japan, in 2006. She is currently a professor with the School of Computer Software, Tianjin University, Tianjin, China. From 2007 to 2015, she was a professor with Dalian Maritime University, Dalian. From 1997 to 2003, she was an assistant professor with the Dalian University of Technology. She has authored more than 80 technical papers in international journals and conferences. She is on the committee board for a couple of international conferences. Her research interests include cloud computing, computer networks, and information retrieval.
Wenyu Qu (Member, IEEE) received the BS degree in information science and the MS degree in engineering mechanics from the Dalian University of Technology, Dalian, China, in 1994 and 1997, respectively, and the PhD degree in applied mathematics from the Japan Advanced Institute of Science and Technology, Nomi, Japan, in 2006. She is currently a professor with the School of Computer Software, Tianjin University, Tianjin, China. From 2007 to 2015, she was a professor with Dalian Maritime University, Dalian. From 1997 to 2003, she was an assistant professor with the Dalian University of Technology. She has authored more than 80 technical papers in international journals and conferences. She is on the committee board for a couple of international conferences. Her research interests include cloud computing, computer networks, and information retrieval.View more
Tianjin Key Laboratory of Advanced Networking (TANK), College of Intelligence and Computing, Tianjin University, Tianjin, China
Tie Qiu (Senior Member, IEEE) is currently a full professor with the School of Computer Science and Technology, Tianjin University, China. Prior to this position, he held assistant professor in 2008 and associate professor in 2013 with the School of Software, Dalian University of Technology. He was a visiting professor with the Department of electrical and computer engineering of Iowa State University in U.S. (2014–2015). He serves as an associate editor of IEEE/ACM Transactions on Networking (ToN), IEEE Transactions on Network Science and Engineering (TNSE) and IEEE Transactions on Systems, Man, and Cybernetics: Systems, area editor of Ad Hoc Networks (Elsevier), associate editor of Computers and Electrical Engineering (Elsevier), Human-centric Computing and Information Sciences (Springer), a guest editor of Future Generation Computer Systems. He serves as general chair, program chair, workshop chair, publicity chair, publication chair or TPC member of a number of international conferences. He has authored/co-authored 10 books, more than 200 scientific papers in international journals and conference proceedings, such as IEEE/ACM Transactions on Networking, IEEE Transactions on Mobile Computing, IEEE Transactions on Knowledge and Data Engineering, IEEE Transactions on Industrial Informatics, IEEE Communications Surveys & Tutorials, IEEE Communications, INFOCOM, GLOBECOM etc. There are 18 papers listed as ESI highly cited papers. He has contributed to the development of 6 copyrighted software systems and invented 20 patents. He is a distinguished member of China Computer Federation (CCF) and a senior member of ACM.
Tie Qiu (Senior Member, IEEE) is currently a full professor with the School of Computer Science and Technology, Tianjin University, China. Prior to this position, he held assistant professor in 2008 and associate professor in 2013 with the School of Software, Dalian University of Technology. He was a visiting professor with the Department of electrical and computer engineering of Iowa State University in U.S. (2014–2015). He serves as an associate editor of IEEE/ACM Transactions on Networking (ToN), IEEE Transactions on Network Science and Engineering (TNSE) and IEEE Transactions on Systems, Man, and Cybernetics: Systems, area editor of Ad Hoc Networks (Elsevier), associate editor of Computers and Electrical Engineering (Elsevier), Human-centric Computing and Information Sciences (Springer), a guest editor of Future Generation Computer Systems. He serves as general chair, program chair, workshop chair, publicity chair, publication chair or TPC member of a number of international conferences. He has authored/co-authored 10 books, more than 200 scientific papers in international journals and conference proceedings, such as IEEE/ACM Transactions on Networking, IEEE Transactions on Mobile Computing, IEEE Transactions on Knowledge and Data Engineering, IEEE Transactions on Industrial Informatics, IEEE Communications Surveys & Tutorials, IEEE Communications, INFOCOM, GLOBECOM etc. There are 18 papers listed as ESI highly cited papers. He has contributed to the development of 6 copyrighted software systems and invented 20 patents. He is a distinguished member of China Computer Federation (CCF) and a senior member of ACM.View more
