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Unreliable V2X communication in cooperative driving: Safety times for emergency braking
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS).ORCID iD: 0000-0002-9738-4148
Multimedia Communications Lab (KOM), Technical University of Darmstadt, Darmstadt, Germany.ORCID iD: 0000-0002-1520-2399
Corporate Research, Robert Bosch GmbH, Hildesheim, Germany.ORCID iD: 0000-0002-6889-4878
Multimedia Communications Lab (KOM), Technical University of Darmstadt, Darmstadt, Germany.ORCID iD: 0000-0002-2008-5932
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2021 (English)In: IEEE Access, E-ISSN 2169-3536, Vol. 9, p. 148024-148036Article in journal (Refereed) Published
Abstract [en]

Cooperative driving is a promising paradigm to improve traffic efficiency and safety. In congested traffic scenarios, such cooperation allows for safe maneuvering and driving with small inter-vehicle spatial gaps. The vehicles involved coordinate their movements in real-time and continuously update each other about their maneuver execution status by means of Vehicle-to-Everything (V2X) communication. However, unreliable V2X communication increases the Age of Information (AoI) of vehicles' status updates, posing a challenge in situations where emergency braking is required during cooperative maneuvering. To address the interplay between unreliable V2X communication and the resulting impact on traffic safety, we introduce a so-called safety time function, specifically designed for cooperative driving use-cases. The safety time function provides the time available for a vehicle to react to an unexpected event of another vehicle - such as emergency braking to avoid a collision. We provide a computationally efficient algorithm for the computation of safety time functions, which allows for efficient and safe cooperative maneuver planning - even in dense traffic scenarios with many vehicles involved. We show the applicability of our proposed safety time function based on the assessed communication quality for IEEE 802.11p-based V2X communication to meet safety constraints in dense vehicular traffic. © 2021 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE, 2021. Vol. 9, p. 148024-148036
Keywords [en]
Age of information, Collaborative maneuvering, Cooperative driving, IEEE 802.11p, Intelligent intersection, Safety, V2X communications
National Category
Computer Systems
Identifiers
URN: urn:nbn:se:hh:diva-46036DOI: 10.1109/ACCESS.2021.3124450ISI: 000716683300001Scopus ID: 2-s2.0-85118562444OAI: oai:DiVA.org:hh-46036DiVA, id: diva2:1616766
Projects
Safety of Connected Intelligent Vehicles in Smart Cities–SafeSmartEmergency Vehicle Traffic Light Pre-emption in Cities–EPIC
Funder
Knowledge FoundationVinnovaGerman Research Foundation (DFG)ELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsAvailable from: 2021-12-03 Created: 2021-12-03 Last updated: 2021-12-03Bibliographically approved

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Thunberg, JohanVinel, Alexey

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Thunberg, JohanBischoff, DanielSchiegg, Florian A.Meuser, TobiasVinel, Alexey
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