Assessing the Challenges of Collective Perception via V2I Communications in High-Speed Scenarios with Open Road Testing

Abstract: This paper presents a comprehensive end-to-end evaluation of an infrastructure-assisted collective perception (ICP) system deployed on a highway using ITS-G5 technology. Open-road tests were conducted in the Bizkaia Connected Corridor (BCC), an operational corridor which covers a winding highway, enabling a realistic assessment of system performance in diverse traffic scenarios. The evaluation included three main aspects: (1) end-to-end Vehicle-to-Everything (V2X) communication latency, with a breakdown of delays introduced by each system component; (2) the effective range of ITS-G5 communications between vehicles and infrastructure; and (3) the perception system, using an independent sensor setup for ground truth annotation to account for errors beyond the detection model, such as synchronization, localization, and calibration inaccuracies. The results reveal that object detection and asynchronous transmission of collective perception messages (CPMs) are major latency bottlenecks, with results showing that synchronizing CPM transmission with local perception can reduce delays by up to 33%. Additionally, onboard perception struggles with detecting objects beyond 50 meters, highlighting the importance of collective perception in highway environments, where communication ranges significantly exceed detection limits. The findings provide valuable insights to optimize ICP deployments, supporting safer and more efficient cooperative mobility systems.