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V2X Communication Input and output data

 

To enhance 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.

 

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.

10.1        V2X Communication

V2X may be achieved via different communication protocols and the actual communication may be regulated. A CAV may use multicast 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 also be used when a CAV broadcasts its identity or in case the data exchanged entails the transmission of large amounts of data such as the Basic Environment Representation (BER). The BER data format should be scalable to enable transmission of important elements of the BER in case the number of CAVs is large.

 

Communication with other CAVs or CAV-aware devices is managed by a Communication Device. An example of how the operation flow of the Communication Device handling communication with other CAVs can be described as:

  1. Receive identities broadcasted by CAVs in range.
  2. Establish unicast sessions with CAVs in range.
  3. Create a list of CAVs in range with which it has established a session.
  4. Send the list with Basic Environment Representations (BER) received via broadcast to the Autonomous Motion Subsystem (AMS).
  5. Sends the CAV’s BER to CAVs in range.

10.2        Input and output data

10.2.1        CAVs within range

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

 

Table 16 – I/O data of CAV’s Communication Device

 

Input Data From Comments
CAV Identity Other CAVs In principle, this should be the digital equivalent of today’s plate number including Manufacturer and Model information.
Basic Environment Representation Other CAVs A scalable subset of the digital representation of the Environment created by the ESS.
Information Messages Other CAVs Typical messages that received by a CAV:

1.      CAV is an ambulance.

2.      CAV carries an authority.

3.      CAV carries a passenger with critical health problem.

4.      CAV has a mechanical problem of an identified level.

5.      Works and traffic jams ahead

6.      Environment must be evacuated.

7.      …
Output Data To Comments
CAV Identity Other CAVs In principle, this should be the digital equivalent of today’s plate number including Manufacturer and Model information.
Basic Environment Representation Other CAVs Same as input for all other input data. BER accuracy depends on available bandwidth.
Information Messages Other CAVs Typical messages as above.

10.2.2        CAV-aware equipment

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

  1. Identity and Spatial Attitude.

Such equipment:

  1. Can act as any other CAV in range.
  2. May have the authority to organise motion of CAVs in range.

10.2.3        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.

10.2.4        Pedestrians

Their smartphones can transmit their Spatial Attitudes. No response capability is expected.

 

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