mlsanityData to 7 Oct 2026

Collaborative Perception for Connected and Autonomous Driving: Challenges, Possible Solutions and Opportunities

arXiv 2401.01544 ↗First posted 3 Jan 2024cs.CV eess.SPcited by 32

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Abstract (arXiv)

Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single vehicle, which has significant limitations which still poses threats to driving safety. Collaborative perception with connected and autonomous vehicles (CAVs) shows a promising solution to overcoming these limitations. In this article, we first identify the challenges of collaborative perception, such as data sharing asynchrony, data volume, and pose errors. Then, we discuss the possible solutions to address these challenges with various technologies, where the research opportunities are also elaborated. Furthermore, we propose a scheme to deal with communication efficiency and latency problems, which is a channel-aware collaborative perception framework to dynamically adjust the communication graph and minimize latency, thereby improving perception performance while increasing communication efficiency. Finally, we conduct experiments to demonstrate the effectiveness of our proposed scheme.

Key facts. Cited by 32 papers in the map (data through 7 Oct 2026). Builds on 16 of its 22 references that are in the map. First posted on arXiv 3 Jan 2024.

Builds on

16 of 22 references.

References · 16

  1. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  2. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  3. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  4. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  5. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  6. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  7. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  8. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  9. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  10. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  11. 2023Collaborative Perception in Autonomous Driving: Methods, Datasets and Challengescited by 87
  12. 2022Latency-Aware Collaborative Perceptioncited by 86
4 more
  1. 2023Adaptive Communications in Collaborative Perception with Domain Alignment for Autonomous Drivingcited by 19
  2. 2023Vehicle as a Service (VaaS): Leverage Vehicles to Build Service Networks and Capabilities for Smart Citiescited by 15
  3. 2023Towards Full-scene Domain Generalization in Multi-agent Collaborative Bird's Eye View Segmentation for Connected and Autonomous Drivingcited by 9
  4. 2023Malicious Agent Detection for Robust Multi-Agent Collaborative Perceptioncited by 8

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 13; 2025: 12; 2026: 7.

32 papers.

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  1. 2024Mobile Edge Intelligence for Large Language Models: A Contemporary Surveycited by 125
  2. 2024AdaptSFL: Adaptive Split Federated Learning in Resource-constrained Edge Networkscited by 64
  3. 2024SplitLoRA: A Split Parameter-Efficient Fine-Tuning Framework for Large Language Modelscited by 60
  4. 2024Automated Federated Pipeline for Parameter-Efficient Fine-Tuning of Large Language Modelscited by 49
  5. 2025STAMP: Scalable Task And Model-agnostic Collaborative Perceptioncited by 44
  6. 2024AgentsCoDriver: Large Language Model Empowered Collaborative Driving with Lifelong Learningcited by 40
  7. 2024FedAC: An Adaptive Clustered Federated Learning Framework for Heterogeneous Datacited by 25
  8. 2024AgentsCoMerge: Large Language Model Empowered Collaborative Decision Making for Ramp Mergingcited by 22
  9. 2024SatFed: A Resource-Efficient LEO Satellite-Assisted Heterogeneous Federated Learning Frameworkcited by 21
  10. 2025Multi-Agent Autonomous Driving Systems with Large Language Models: A Survey of Recent Advancescited by 21
  11. 2024IC3M: In-Car Multimodal Multi-object Monitoring for Abnormal Status of Both Driver and Passengerscited by 20
  12. 2024Directed-CP: Directed Collaborative Perception for Connected and Autonomous Vehicles via Proactive Attentioncited by 14
20 more
  1. 2024CP-Guard: Malicious Agent Detection and Defense in Collaborative Bird's Eye View Perceptioncited by 13
  2. 2024SmartCooper: Vehicular Collaborative Perception with Adaptive Fusion and Judger Mechanismcited by 11
  3. 2025Dynamic Uncertainty-aware Multimodal Fusion for Outdoor Health Monitoringcited by 10
  4. 2025GCP: Guarded Collaborative Perception with Spatial-Temporal Aware Malicious Agent Detectioncited by 8
  5. 2025Generative AI for Autonomous Driving: Frontiers and Opportunitiescited by 7
  6. 2025Distribution-Aligned Decoding for Efficient LLM Task Adaptationcited by 7
  7. 2025Automated Vehicles Should be Connected with Natural Languagecited by 5
  8. 2025PartialLoading: User Scheduling and Bandwidth Allocation for Parameter-sharing Edge Inferencecited by 4
  9. 2026Learning Mutual View Information Graph for Adaptive Adversarial Collaborative Perceptioncited by 3
  10. 2024Channel-Aware Throughput Maximization for Cooperative Data Fusion in CAVcited by 2
  11. 2025Task-Aware Parameter-Efficient Fine-Tuning of Large Pre-Trained Models at the Edgecited by 2
  12. 2025SafeCoop: Unravelling Full Stack Safety in Agentic Collaborative Drivingcited by 2
  13. 2025CP-uniGuard: A Unified, Probability-Agnostic, and Adaptive Framework for Malicious Agent Detection and Defense in Multi-Agent Embodied Perception Systemscited by 1
  14. 2026V2VCrafter: Consistent Street-View Image Generation Across Vehiclescited by 1
  15. 2025When Autonomous Vehicle Meets V2X Cooperative Perception: How Far Are We?cited by 0
  16. 2026DSP-Reg: Domain-Sensitive Parameter Regularization for Robust Domain Generalizationcited by 0
  17. 2026One Model to Translate Them All: Universal Any-to-Any Translation for Heterogeneous Collaborative Perceptioncited by 0
  18. 2026Rethinking Air-Ground Collaboration: A Progressive Cross-Task Benchmark and Socialized Learning Frameworkcited by 0
  19. 2026CoDS: Robust Collaborative Perception via Expert-driven Detection and BEV Segmentationcited by 0
  20. 2026Learning from Distributed Eyes: Leveraging Collaborative Perception for Automated Model Adaptationcited by 0