# TruPercept: Trust Modelling for Autonomous Vehicle Cooperative Perception from Synthetic Data

arXiv: https://arxiv.org/abs/1909.07867 · HTML: https://mlsanity.com/paper/1909.07867/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Sep 2019.

## Built on by (most cited first, 8 of 8)

- [Adaptive Feature Fusion for Cooperative Perception using LiDAR Point Clouds](https://mlsanity.com/paper/2208.00116/) (2022)
- [Distributed Dynamic Map Fusion via Federated Learning for Intelligent Networked Vehicles](https://mlsanity.com/paper/2103.03786/) (2021)
- [CoBEVFusion: Cooperative Perception with LiDAR-Camera Bird's-Eye View Fusion](https://mlsanity.com/paper/2310.06008/) (2023)
- [Collaborative 3D Object Detection for Automatic Vehicle Systems via Learnable Communications](https://mlsanity.com/paper/2205.11849/) (2022)
- [SafeCoop: Unravelling Full Stack Safety in Agentic Collaborative Driving](https://mlsanity.com/paper/2510.18123/) (2025)
- [Trust-aware Control for Intelligent Transportation Systems](https://mlsanity.com/paper/2111.04248/) (2021)
- [Unified End-to-End V2X Cooperative Autonomous Driving](https://mlsanity.com/paper/2405.03971/) (2024)
- [LCV2I: Communication-Efficient and High-Performance Collaborative Perception Framework with Low-Resolution LiDAR](https://mlsanity.com/paper/2502.17039/) (2025)

## Abstract (arXiv)

Inter-vehicle communication for autonomous vehicles (AVs) stands to provide significant benefits in terms of perception robustness. We propose a novel approach for AVs to communicate perceptual observations, tempered by trust modelling of peers providing reports. Based on the accuracy of reported object detections as verified locally, communicated messages can be fused to augment perception performance beyond line of sight and at great distance from the ego vehicle. Also presented is a new synthetic dataset which can be used to test cooperative perception. The TruPercept dataset includes unreliable and malicious behaviour scenarios to experiment with some challenges cooperative perception introduces. The TruPercept runtime and evaluation framework allows modular component replacement to facilitate ablation studies as well as the creation of new trust scenarios we are able to show.