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Multi-agent multi-lidar sensor fusion between connected vehicles forcooperative perception has recently been recognized as the best technique forminimizing the blind zone of individual vehicular perception systems andfurther enhancing the overall safety of autonomous driving systems. Thistechnique relies heavily on the reliability and availability ofvehicle-to-everything (V2X) communication. In practical sensor fusionapplication scenarios, the non-line-of-sight (NLOS) issue causes blind zonesfor not only the perception system but also V2X direct communication. Tocounteract underlying communication issues, we introduce an abstract perceptionmatrix matching method for quick sensor fusion matching procedures andmobility-height hybrid relay determination procedures, proactively improvingthe efficiency and performance of V2X communication to serve the upper layerapplication fusion requirements. To demonstrate the effectiveness of oursolution, we design a new simulation framework to consider autonomous driving,sensor fusion and V2X communication in general, paving the way for end-to-endperformance evaluation and further solution derivation.

NLOS Dies Twice: Challenges and Solutions of V2X for Cooperative Perception