The Role of Collective Perception and 5G NR-V2X Sidelink in Road Safety

Abstract: Vehicles and roadside infrastructure are increasingly equipped with sensors capable of perceiving their surroundings. Sharing this information through vehicle-to-everything (V2X) communications is a key enabler of Day-2 applications and is supported by the ETSI collective perception service (CPS). While CPS is expected to play a fundamental role in future intelligent transportation systems, its operation may significantly increase channel load, posing challenges in terms of radio resource utilization, communication reliability, and information management. This paper reviews the current status of CPS standardization and investigates its impact in dense deployment scenarios where connected vehicles communicate through fifth-generation (5G) New Radio-V2X (NR-V2X) sidelink (SL) communications. The main contribution is a realistic evaluation of communication reliability, latency, channel occupancy, and information usefulness under different object-selection strategies for collective perception messages. The analysis is conducted through a network-level simulation framework integrating empirical object traces derived from real-world datasets, thereby avoiding the limitations of synthetic traffic models. Results show that perception message generation and radio access mechanisms are tightly coupled and should be jointly designed to maximize the benefits of collective perception services.