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arXiv · 2609.31429

ITS Fairy: Occlusion Assistance Selected Against a Recipient's Own Perception Reports

Yenan Wang·Oscar Karlsson·Elad Michael Schiller·Francesco Raviglione·Claudio Casetti
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Abstract

Cooperative perception can expose object state beyond a vehicle's onboard sensors, but sensing occlusion can still leave a local safety application without the objects its collision computation needs. To tackle this challenge, we present the ITS Fairy, an infrastructure-side Server Local Dynamic Map (S-LDM) service whose decision unit is the pair (recipient, missing conflict-relevant object): among objects absent from a recipient's CPM-derived reported awareness, it sends only those relevant to a Time of Closest Approach (TCA) conflict test. Comparable services predict what a vehicle can perceive; the ITS Fairy instead reads what it has already reported. The recipient inserts the selected state into its local LDM and uses its unchanged collision-avoidance controller. We evaluate this application-level mechanism in SUMO--ms-van3t--S-LDM emulation, since extended as VaN3Twin, using a sensing-occluded lane merge and four-way intersection scenario. At every main-sweep speed, the smallest assisted per-encounter minimum TCA exceeds the largest local-only value in the archived data. Additionally, assisted medians remain in the multi-second range where local-only operation repeatedly approaches zero. In the lane-merge robustness data, the median benefit persists at 80% configured assistance omission with 10 and 5 Hz analysis, but largely disappears at 100-120 km/h when 80% omission is combined with 1 Hz analysis. These results demonstrate the application-level value of supplying object state selected against what a recipient has itself reported. They are not a vehicular wireless-channel evaluation, and they do not quantify what selectivity saves relative to forwarding every nearby object.

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Yenan Wang, Oscar Karlsson, Elad Michael Schiller, Francesco Raviglione, Claudio Casetti. 2026-09-25. ITS Fairy: Occlusion Assistance Selected Against a Recipient's Own Perception Reports. https://arxiv.org/abs/2609.31429

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