Adaptive RRI Selection Algorithms for Improved Cooperative Awareness in Decentralized NR-V2X

Decentralized vehicle-to-everything (V2X) networks (i.e., C-V2X Mode-4 and NR-V2X Mode-2) utilize sensing-based semi-persistent scheduling (SPS) where vehicles sense and reserve suitable radio resources for Basic Safety Message (BSM) transmissions at prespecified periodic intervals termed as Resource Reservation Interval (RRI). Vehicles rely on these received periodic BSMs to localize nearby (transmitting) vehicles and infrastructure, referred to as cooperative awareness. Cooperative awareness enables line of sight and non-line of sight localization, extending a vehicle’s sensing and perception range. In this work, we first show that under high vehicle density scenarios, existing SPS (with prespecified RRIs) suffer from poor cooperative awareness, quantified as tracking error. Tracking error is defined as the difference between a vehicle’s true and estimated location as measured by its neighbors. To address the issues of static RRI SPS and improve cooperative awareness, we propose two novel RRI selection algorithms– namely, Channel-aware RRI (Ch-RRI) selection and Age of Information (AoI)-aware RRI (AoI-RRI) selection. Ch-RRI dynamically selects an RRI based on channel resource availability depending upon the (sparse or dense) vehicle densities, whereas AoI-RRI utilizes a novel information freshness metric, called Age of Information (AoI) to select a suitable RRI. Both adaptive RRI algorithms use SPS for selecting transmission opportunities for timely BSM transmissions at the chosen RRI. System-level simulations demonstrate that both proposed schemes outperform the SPS with fixed RRI in terms of improved cooperative awareness. Furthermore, AoI-RRI SPS outperforms Ch-RRI SPS in high densities, whereas Ch-RRI SPS is slightly better than AoI-RRI SPS in low densities.