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ETSI standard-compliant Collective Perception Service for Connected Automated Driving Resumen: Cooperative (or collective) perception enables connected automated vehicles and traffic infrastructure to wirelessly exchange information about the objects they perceive with their onboard sensors. It is thus conceived to increase the perception capabilities of connected automated vehicles, improving traffic safety and efficiency. However, the implementation of cooperative perception is challenged by the need to exchange updated information, which requires minimizing the latency in the transmission and reception of collective perception messages. In this context, the main objective of this paper is the implementation, validation and testing of a standard-compliant Collective Perception Service (CPS) following the ETSI specifications recently published. The proposed implementation is validated under varying conditions and its scalability is analyzed in a laboratory environment. |