Joint Communication and Sensing Enabled Cooperative Perception Testbed for Connected Automated Vehicles

Abstract

To overcome the bottleneck of sensing ability improvement in a single automated vehicle, the joint communication and sensing (JCS), as one of the potential sixth-generation wireless communication technologies, can support the efficient raw perception data sharing among connected automated vehicles in the millimeter wave frequency band. We propose a weighted mean accuracy based sensing data fusion algorithm to enhance the target positioning performance by sharing the perception data from two time division based JCS systems. Field test results prove that the proposed algorithm using two cooperative JCS systems can reduce the target positioning root mean square error by 31% compared to a single JCS system.