Platoon-local dynamic map: Micro cloud support for platooning cooperative perception

Platooning is a popular vehicular application for autonomous driving on which the Platoon Leader (PL) manages all maneuvers using context information from Vehicle-to-Vehicle (V2V) messages. However, redundant context information from nearby vehicles in the platoon can increase computational costs for the PL. To solve this issue, vehicular micro-clouds can be formed to enable collective data processing and aggregation, thus reducing the PL’s perception workload. The proposed solution, called Platoon Local Dynamic Map (P-LDM), creates a single database of context information, distributing the data aggregation load among all members of the platoon. Simulation results evaluate the effectiveness of the proposed solution and compare it to typical Cooperative Perception mechanisms.