Abstract
Collaboration among road agents, such as connected autonomous vehicles and roadside units, enhances driving performance by enabling the exchange of valuable information. However, existing collaboration methods predominantly focus on perception tasks and rely on single-frame static information sharing, which limits the effective exchange of temporal data and hinders broader applications of collaboration. To address this challenge, we propose CoPnP, a novel collaborative joint perception and prediction system, whose core innovation is to realize multi-frame spatial-temporal information sharing. To achieve effective and communication-efficient information sharing, two novel designs are proposed: (1) a task-oriented spatial-temporal information-refinement model, which filters redundant and noisy multi-frame features into concise representations; (2) a spatial-temporal importance-aware feature-fusion model, which comprehensively fuses features from various agents. The proposed CoPnP expands the benefits of collaboration among road agents to the joint perception and prediction task. The experimental results demonstrate that CoPnP outperforms existing state-of-the-art collaboration methods, achieving a significant performance-communication trade-off and yielding up to 11.51%/10.34% Intersection over union and 12.31%/10.96% video panoptic quality gains over single-agent PnP on the OPV2V/V2XSet datasets.