Edinburgh Napier University

  As a promising vehicular communication technology, Cellular Vehicle-to-Everything (C-V2X) is expected to ensure the safety and convenience of Intelligent Transportation Systems (ITS) by providing global road information. However, it is difficult to obtain global road information in practical scenarios since there will still be many vehicles on the road without onboard units (OBUs) in the near future. Specifically, although C-V2X vehicles have sensors that can perceive their surroundings and broadcast their perceived information to the C-V2X system, their line-of-sight (LoS) is limited and obscured by the environment, such as other vehicles and terrain. Besides, vehicles without OBUs cannot share their perceived information. These two problems cause extensive areas with unperceived information in the C-V2X system, and whether vehicles are in these areas is unknown. Thus, extending the perceivable range of the limited scenario for C-V2X applications that require global road information is necessary. To this end, this paper pioneers investigating the scenario inpainting task problem in C-V2X. To solve this challenging problem, we propose an effiCient trAffic Scenario inpainTing (CAST) solution consisting of a generative architecture and knowledge distillation, simultaneously considering the inpainting precision and computation efficiency. Extensive experiments have been conducted to demonstrate the effectiveness of CAST in terms of Precise Inpaint Rate (PIR), Rough Inpaint Rate (RIR), Lane-Level Inpaint Rate (LLIR), and Inpaint Confidence Error (ICE), paving the way for novel solutions for the inpainting problem in more complex road scenarios.