Vulnerable Road Users Are Important As Well: Persons in the Collective Perception Service

Vulnerable Road Users, such as pedestrians and cyclists, are a significant proportion of all traffic participants but have limited capabilities to protect themselves in accidents. Hence, raising awareness of their presence among vehicles is vital. One key technology in this regard will be the Collective Perception Service (CPS), which is currently standardized by the ETSI. It enables vehicles to exchange information about locally perceived objects via Collective Perception Messages, improving situational awareness and allowing perception of obstructed traffic participants. However, the CPS distinguishes vehicles and person-type objects when generating messages because of their difference in movement patterns and dynamics. This paper analyzes the inclusion rules for person-type objects in a large-scale simulation study, showing that the CPS can significantly improve awareness of persons with little additional channel resource usage. Finally, alternative parameterizations for the CPS are analyzed, indicating how different tracking accuracies for persons can be achieved.