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This paper presents the computer vision-based V2X collaborative perception. Our system uses a forward-looking camera in the host vehicle. The camera detects road users such as pedestrians, vehicles, and motorcycles. Such information includes object type, relative location, direction, and speed. This information is used to compose proxy Basic Safety Messages on behalf of the detected objects. Early adopters of the V2X technology can experience the benefits of enhanced V2X market penetration. The outcome of adopting this concept will result in an inflated V2X market penetration rate leading to earlier safety, mobility, and situational awareness improvements. The ultimate goal is for all road participants to be fully aware of each other. The novelty of our work is the integration of computer vision-based detection and LTE-V V2X communications, in addition to implementing the concept for pedestrians and bicyclists.

Dedicated Short Range Communication (DSRC) is increasingly being recognized as the protocol of choice for vehicle safety applications by Original Equipment Manufacturers (OEMs) and road operators. DSRC offers the ability to communicate effectively from vehicle-to-vehicle and from vehicle to infrastructure with low latency and high reliability. A wide range of applications have been conceptualized to support safety, mobility and convenience, including: cooperative collision avoidance, travel information, and electronic payment. To be effective, infrastructure-based applications require an installed-vehicle base along with infrastructure deployment, while vehicle-to-vehicle applications require significant DSRC market penetration along with some degree of infrastructure support systems. Some vehicles currently include safety applications involving forward looking radar. The radar supplies information about objects, their distances and relative speed ahead of the host vehicle.