Cooperative perception, or collective perception (CP), is an emerging and promising technology for intelligent transportation systems (ITS). It enables an ITS station (ITS-S) to share its local perception information with others by means of vehicle-to-X (V2X) communication, thereby achieving improved efficiency and safety in road transportation. In this paper, we present our recent progress on the development of a connected and automated vehicle (CAV) and intelligent roadside unit (IRSU). The main contribution of the work lies in investigating and demonstrating the use of CP service within intelligent infrastructure to improve awareness of vulnerable road users (VRU) and thus safety for CAVs in various traffic scenarios. We demonstrate in experiments that a connected vehicle (CV) can “see” a pedestrian around the corners. More importantly, we demonstrate how CAVs can autonomously and safely interact with walking and running pedestrians, relying only on the CP information from the IRSU through vehicle-to-infrastructure (V2I) communication. This is one of the first demonstrations of urban vehicle automation using only CP information. We also address in the paper the handling of collective perception messages (CPMs) received from the IRSU, and passing them through a pipeline of CP information coordinate transformation with uncertainty, multiple road user tracking, and eventually path planning/decision-making within the CAV. The experimental results were obtained with manually driven CV, fully autonomous CAV, and an IRSU retrofitted with vision and laser sensors and a road user tracking system.

Compressed Estimation approaches, such as the Generalised Compressed Kalman Filter (GCKF), reduce the computational cost and complexity of high dimensional and high frequency data assimilation problems; usually without sacrificing optimality. Configured using adequate cores, such as the Unscented Kalman Filter (UKF), the GCKF could also treat certain non-linear cases. However, the application of a compressed estimation process is limited to a class of problems which inherently allow the estimation process to be divided, at certain intervals of time, in a subset of lower dimensional problems. This limitation prohibits applying the compressing techniques for estimating densely coupled high dimensional processes. However, those limitations can be overcome by applying proper techniques. In this paper, the concept of subsystem switching, and information exchange architecture, namely 'Exploiting Local Statistical Dependency' (ELSD), has been derived and explored, for allowing compressed estimators to mimic optimal full Gaussian estimators. The performances of the methods have been verified through its application in solving usual types of linear Stochastic Partial Differential Equations (SPDEs). The computational advantages of using the proposed techniques have also been highlighted with recommendation of its usage over the full filter when dealing with high dimensional and high frequency data assimilation.

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