Rethinking cooperative awareness for future V2X safety-critical applications

In this paper, we redefine cooperative awareness to include both GPS and communication-induced position errors. We reduce the GPS error through

fusion-based Cooperative Localization (CLoc), and exchange such information

instead of GPS coordinates. We mitigate the communication-induced errors by a novel awareness control strategy aiming at breaking the 10Hz barrier through smooth spatial degradations and adjusted message contents. We evaluate the scalability limit of our strategy and show via simulation results that we can reach a packet Inter-Reception Time (IRT) of 15ms up to 50m at a channel load below 60%, leading to a position awareness error below 0.8m. This is a 4x improvement compared to current standards, and is an

enabler to the reactivity and precision required by future ITS-G5 autonomous

vehicles.