CAV-to-Everything (V2X)

<–Motion Actuation Subsystem (MAS) Go to ToC Summary of the contributions requested by this Call for Technologies–>

Index

V2X is the CAV component that allows the CAV Subsystems to communicate to entities external to the Ego CAV. For instance, the HCI of a CAV may send/request information to/from the HCI of another CAV or an AMS may send/request the BER to/from the AMS of another CAV.

8.1 Description

To improve its own capabilities to perceive the Environment, a CAV exchanges information via radio with other entities, e.g., CAVs in range and other CAV-aware communication devices such as Roadside Units and Traffic Lights. Communication may be achieved via secure channels.

A CAV may broadcast to CAVs in range information it has become aware of by using the V2X communication interface. For instance, while executing a Command, the MAS of CAV may become aware of ice on the road. The AMS may decide to broadcast that information to CAVs in range.

Multicast Communication may be used when a CAV broadcasts its identity or in case the data exchanged entail the transmission of large amounts of data such as the Basic Environment Representation (BER). Unicast mode may be used in other cases.

A Communication Device outside of the MPAI-AIF Trusted Zone of the Autonomous Motion Subsystem (AMS) manages communication. The Device communicates with any Ego CAV AIF which has communication needs or from AIFs which the Communication Device has received data.

The operation flow of the Communication Device when handling communication with other CAVs or with devices having CAV functionality (e.g., a traffic light or a roadside unit) can be described as:

Receive identities broadcasted by CAVs in range.
Establish unicast sessions with CAVs in range.
Create a list of CAVs in range with which it has established a session.
Send the list with Basic Environment Representations (BER) received via broadcast to the Autonomous Motion Subsystem (AMS).
Sends the CAV’s BER to CAVs in range.
Communication Device may broadcast BER in encrypted form using a key that is only known to CAVs in range that have an open unicast session with the Communication Device.

The Communication Device may also be made aware of the nature of CAVs and CAV-like devices, e.g.:

Traffic light.
Fire Truck.
Flock Leader.

CAVs should communicate using a protocol that assigns a slice of the available transmission rate to each CAV based on the number of CAVs.

6.2 Input and output data

8.2.1 CAVs within range

Table 15 gives the Data Types a CAV broadcasts to CAVs in range via its Communication Device.

Table 15 – I/O data of CAV’s Communication Device

Input Data	From	Comments
Basic Environment Representation	Other CAVs	A digital representation of the Environment created by the ESS.
CAV Identity	Other CAVs	In principle, this should be the digital equivalent of today’s plate number including Manufacturer and Model information.
CAV Intention	Other CAVs	The Path and other motion data relevant to other CAVs
Full Environment Representation	Other CAVs	A digital representation of the Environment created by fusing all available Basic Environment Representations.
Information Messages	Other CAVs	Typical messages CAV can broadcast. CAV is an ambulance. CAV carries an authority. CAV carries a passenger with critical health problem. CAV has a mechanical problem of an identified level. Works and traffic jams ahead Environment must be evacuated …
Output Data	To	Comments
Basic Environment Representation	Other CAVs	Same as input for all other input data.
Full Environment Representation	Other CAVs	A digital representation of the Environment obtained from the fusion of all available Basic Environment Representations.

8.2.2 CAV-aware equipment

Examples of such equipment are traffic lights, roadside units, vehicles with CAV communication capabilities. The following data may be exchanged:

Identity and coordinates (exact coordinate reference).

Such equipment can:

Act as any other CAV in range.
Have the authority to organise motion of CAVs in range.

8.2.3 Other non-CAV vehicles

Other vehicles can be scooters, motorcycles, bicycles, etc. possibly transmitting their position as derived from GNSS. No response capability is expected. Vehicles may also have the capability to transmit additional information, e.g., identity, model, speed.

8.2.4 Pedestrians

Their smartphones can transmit their coordinates as available from GNSS. No response capability is expected.