Протоколы коллективного восприятия (CPM), трансляция облаков точек LiDAR и слияние данных датчиков

V2Sensor стандартизирует обмен объектами восприятия по протоколам ETSI CPM и SAE J3224 — транслируя облака точек LiDAR, дорожные радарные треки и классификацию объектов по радиоканалу V2X.

V2Sensor Multi-Modal Sensor Streaming & Fusion Architecture V2X Architecture

Central Controller: On-Vehicle LiDAR / Radar — High-density 3D spatial points & Doppler

Cooperative ITS Nodes & Sidelink Mesh

On-Vehicle LiDAR / Radar
V2X Point Cloud Codec
5G NR-V2X Sidelink (PC5)
Collective World Model
IEEE 1609.2 HSM Root

Raw & Processed Sensor-Sharing Protocols, Radar-LiDAR-V2X Fusion Engine

V2Sensor standardizes low-latency sensor sharing across vehicles and smart roadside units—enabling collective point cloud streaming, ultrasonic hazard mapping, and unified environmental perception.

Core Engineering Areas

Hierarchical Fusion Levels (Raw, Feature, Track) — Adaptive switching between track-level object lists and high-bandwidth feature-level point clouds based on available channel quality.
V2X Point Cloud Octree Compression — Lossy and lossless geometric compression algorithms reducing multi-megabyte LiDAR sweeps down to sub-100KB V2X frames.
Kalman Covariance & Sensor Trust Scoring — Dynamic weighing of external sensor data streams based on sensor calibration confidence, weather degradation, and latency.

Technical Articles

Related Cluster Architecture Specifications

AutomotiveV2X — Connected Vehicle-to-Everything & Cooperative ITS Architecture
CellularV2X — 3GPP C-V2X Architecture, PC5 Direct Sidelink & Cellular Uu Infrastructure
NRV2X — 5G NR V2X Sidelink, Sub-Millisecond Latency & High-Rate Sensor Sharing
ISACV2X — Integrated Sensing and Communication (ISAC) for Automotive V2X