Literature Database Entry

ravera2026cooperative

Stefano Ravera, Francesco Raviglione, Corrado Puligheddu, Ziqi Zhou, Ahmed Hasan Ansari, Diego Gasco, Marco Rapelli, Falko Dressler, Claudio Ettore Casetti and Carla Fabiana Chiasserini, "Cooperative Perception for Road Safety in Vehicular and VRU Microclouds," Proceedings of 28th International Symposium on Stabilization, Safety, and Security of Distributed Systems (SSS 2026), Gothenburg, Sweden, October 2026. (to appear)

Abstract

Vulnerable Road Users (VRUs) have benefited far less than car occupants from the recent road fatalities drop, motivating cooperative perception, in which connected vehicles and infrastructure share sensing information about VRUs. Existing solutions, however, rely on communication metrics that are only implicitly linked to safety, or place acollisionavoidanceapplicationintheloopwhileabstractingperception. To fill this gap, we present a modular simulation framework combining CARLA/OpenCDA sensor-level perception, a trajectory-based Collision Avoidance Algorithm (CAA), an ETSI-compliant VRU Awareness Basic Service, and 5G network simulation based on ns-3 and 5G-LENA, enabling end-to-end evaluation of a road safety application that uses real sensor-level detections. We use our framework to compare three policies with increasing degree of cooperation within a vehicular and VRU edge cloud at an urban intersection: local collision avoidance based on on-board perception only, centralized collision avoidance at an edge server fusing vehicle detections, and an infrastructure-assisted policy that also integrates VRU Awareness Messages. Results show that cooperation reduces the number of missed VRUs within a 40 m reference range by a factor > 2, and improves the collision-risk detection probability by up to 48.5%, at the cost of a slightly higher end-to-end latency.

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Stefano Ravera
Francesco Raviglione
Corrado Puligheddu
Ziqi Zhou
Ahmed Hasan Ansari
Diego Gasco
Marco Rapelli
Falko Dressler
Claudio Ettore Casetti
Carla Fabiana Chiasserini

BibTeX reference

@inproceedings{ravera2026cooperative,
    author = {Ravera, Stefano and Raviglione, Francesco and Puligheddu, Corrado and Zhou, Ziqi and Ansari, Ahmed Hasan and Gasco, Diego and Rapelli, Marco and Dressler, Falko and Casetti, Claudio Ettore and Chiasserini, Carla Fabiana},
    note = {to appear},
    title = {{Cooperative Perception for Road Safety in Vehicular and VRU Microclouds}},
    publisher = {Springer},
    address = {Gothenburg, Sweden},
    booktitle = {28th International Symposium on Stabilization, Safety, and Security of Distributed Systems (SSS 2026)},
    month = {10},
    year = {2026},
   }
   
   

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Last modified: 2026-09-16