{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,31]],"date-time":"2026-07-31T15:38:40Z","timestamp":1785512320090,"version":"3.56.0"},"reference-count":49,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2020,12,29]],"date-time":"2020-12-29T00:00:00Z","timestamp":1609200000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Vehicle-to-everything (V2X) communication is seen as one of the main enabling technologies for automated vehicles. Collective perception is especially promising, as it allows connected traffic participants to \u201csee through the eyes of others\u201d by sharing sensor-detected objects via V2X communication. Its benefit is typically assessed in terms of the increased object update rate, redundancy, and awareness. To determine the safety improvement thanks to collective perception, the authors introduce new metrics, which quantify the environmental risk awareness of the traffic participants. The performance of the V2X service is then analyzed with the help of the test platform TEPLITS, using real traffic traces from German highways, amounting to over 100 h of total driving time. The results in the considered scenarios clearly show that collective perception not only contributes to the accuracy and integrity of the vehicles\u2019 environmental perception, but also that a V2X market penetration of at least 25% is necessary to increase traffic safety from a \u201crisk of serious traffic accidents\u201d to a \u201cresidual hypothetical risk of collisions without minor injuries\u201d for traffic participants equipped with non-redundant 360\u00b0 sensor systems. These results support the ongoing worldwide standardization efforts of the collective perception service.<\/jats:p>","DOI":"10.3390\/s21010159","type":"journal-article","created":{"date-parts":[[2020,12,29]],"date-time":"2020-12-29T19:55:25Z","timestamp":1609271725000},"page":"159","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":67,"title":["Collective Perception: A Safety Perspective"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6889-4878","authenticated-orcid":false,"given":"Florian A.","family":"Schiegg","sequence":"first","affiliation":[{"name":"Corporate Research\u2014Advanced Engineering Connected Mobility Systems, Robert Bosch GmbH, Robert-Bosch-Stra\u00dfe 200, 31139 Hildesheim, Germany"},{"name":"Institute of Communications Technology, Leibniz University of Hannover, Appelstra\u00dfe 9A, 30167 Hannover, Germany"},{"name":"Department of Information and Communication Engineering, Tongji University, 4800 Cao\u2019an Highway (Jiading), Shanghai 201804, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ignacio","family":"Llatser","sequence":"additional","affiliation":[{"name":"Corporate Research\u2014Advanced Engineering Connected Mobility Systems, Robert Bosch GmbH, Robert-Bosch-Stra\u00dfe 200, 31139 Hildesheim, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1520-2399","authenticated-orcid":false,"given":"Daniel","family":"Bischoff","sequence":"additional","affiliation":[{"name":"Active Safety Advanced Technology, Opel Automobile GmbH, Bahnhofsplatz, 65423 R\u00fcsselsheim, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Georg","family":"Volk","sequence":"additional","affiliation":[{"name":"Department of Computer Science\u2014Embedded Systems, Eberhard Karls University of T\u00fcbingen, Sand 13, 72076 T\u00fcbingen, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,12,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"G\u00fcnther, H.J., Mennenga, B., Trauer, O., Riebl, R., and Wolf, L. 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