NLOS Dies Twice: Challenges and Solutions of V2X for Cooperative
  Perception
Lantao Li Chen Sun
Multi-agent multi-lidar sensor fusion between connected vehicles for
cooperative perception has recently been recognized as the best technique for
minimizing the blind zone of individual vehicular perception systems and
further enhancing the overall safety of autonomous driving systems. This
technique relies heavily on the reliability and availability of
vehicle-to-everything (V2X) communication. In practical sensor fusion
application scenarios, the non-line-of-sight (NLOS) issue causes blind zones
for not only the perception system but also V2X direct communication. To
counteract underlying communication issues, we introduce an abstract perception
matrix matching method for quick sensor fusion matching procedures and
mobility-height hybrid relay determination procedures, proactively improving
the efficiency and performance of V2X communication to serve the upper layer
application fusion requirements. To demonstrate the effectiveness of our
solution, we design a new simulation framework to consider autonomous driving,
sensor fusion and V2X communication in general, paving the way for end-to-end
performance evaluation and further solution derivation.