{"id":"https://openalex.org/W7154725849","doi":"https://doi.org/10.48550/arxiv.2604.14454","title":"CooperDrive: Enhancing Driving Decisions Through Cooperative Perception","display_name":"CooperDrive: Enhancing Driving Decisions Through Cooperative Perception","publication_year":2026,"publication_date":"2026-04-15","ids":{"openalex":"https://openalex.org/W7154725849","doi":"https://doi.org/10.48550/arxiv.2604.14454"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.14454","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.14454","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.14454","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037581754","display_name":"Deyuan Qu","orcid":"https://orcid.org/0009-0002-5498-3172"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Qu, Deyuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133887919","display_name":"Qi Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Qi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024670505","display_name":"Takayuki Shimizu","orcid":"https://orcid.org/0000-0002-1068-8510"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shimizu, Takayuki","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133878718","display_name":"Onur Altintas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Altintas, Onur","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037581754"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9452000260353088,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9452000260353088,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.01730000041425228,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.013700000010430813,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6700999736785889},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.647599995136261},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5809999704360962},{"id":"https://openalex.org/keywords/situation-awareness","display_name":"Situation awareness","score":0.4977000057697296},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.43290001153945923},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.40389999747276306},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.3944000005722046},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3797999918460846}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6700999736785889},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.647599995136261},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5809999704360962},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5181999802589417},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.4977000057697296},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.43290001153945923},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.40389999747276306},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3944000005722046},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3797999918460846},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3783999979496002},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3465000092983246},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.34279999136924744},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3424000144004822},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3416000008583069},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.33809998631477356},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33309999108314514},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.3328999876976013},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3244999945163727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3199999928474426},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3100999891757965},{"id":"https://openalex.org/C2777363581","wikidata":"https://www.wikidata.org/wiki/Q15098235","display_name":"Harm","level":2,"score":0.290800005197525},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.27950000762939453},{"id":"https://openalex.org/C102168758","wikidata":"https://www.wikidata.org/wiki/Q7321258","display_name":"Beacon","level":2,"score":0.27790001034736633},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2734000086784363},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.2685999870300293},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.14454","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.14454","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.14454","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.14454","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"vehicles":[1],"equipped":[2],"with":[3,97],"robust":[4],"onboard":[5],"perception,":[6,54],"localization,":[7,55],"and":[8,15,37,56,59,65,70,93,115,118,127,148,157],"planning":[9,57,102],"still":[10],"face":[11],"limitations":[12],"in":[13],"occlusion":[14],"non-line-of-sight":[16],"(NLOS)":[17],"scenarios,":[18],"where":[19],"delayed":[20],"reactions":[21],"can":[22],"increase":[23],"collision":[24],"risk.":[25],"We":[26],"propose":[27],"CooperDrive,":[28],"a":[29,61],"cooperative":[30],"perception":[31,69],"framework":[32],"that":[33,139],"augments":[34],"situational":[35],"awareness":[36],"enables":[38],"earlier,":[39],"safer":[40,128],"driving":[41,129],"decisions.":[42,130],"CooperDrive":[43,73,104,140],"offers":[44],"two":[45],"key":[46],"advantages:":[47],"(i)":[48],"each":[49],"vehicle":[50,83],"retains":[51],"its":[52],"native":[53],"stack,":[58],"(ii)":[60],"lightweight":[62],"object-level":[63],"sharing":[64],"fusion":[66],"strategy":[67],"bridges":[68],"planning.":[71],"Specifically,":[72],"reuses":[74],"detector":[75],"Bird's-Eye":[76],"View":[77],"(BEV)":[78],"features":[79],"to":[80,110],"estimate":[81],"accurate":[82],"poses":[84],"without":[85],"additional":[86],"heavy":[87],"encoders,":[88],"thereby":[89,121],"reconstructing":[90],"BEV":[91],"representations":[92],"feeding":[94],"the":[95,101,106],"planner":[96],"low":[98],"latency.":[99],"On":[100],"side,":[103],"leverages":[105],"expanded":[107],"object":[108],"set":[109],"anticipate":[111],"potential":[112],"conflicts":[113],"earlier":[114],"adjust":[116],"speed":[117],"trajectory":[119],"proactively,":[120],"transforming":[122],"reactive":[123],"behaviors":[124],"into":[125],"predictive":[126],"Real-world":[131],"closed-loop":[132],"tests":[133],"at":[134],"occlusion-heavy":[135],"NLOS":[136],"intersections":[137],"demonstrate":[138],"increases":[141],"reaction":[142],"lead":[143],"time,":[144],"minimum":[145],"time-to-collision":[146],"(TTC),":[147],"stopping":[149],"margin,":[150],"while":[151],"requiring":[152],"only":[153],"90":[154],"kbps":[155],"bandwidth":[156],"maintaining":[158],"an":[159],"average":[160],"end-to-end":[161],"latency":[162],"of":[163],"89":[164],"ms.":[165]},"counts_by_year":[],"updated_date":"2026-04-18T06:05:20.339008","created_date":"2026-04-18T00:00:00"}