A Framework for Minimizing Information Aging in the Exchange of CAV Messages

Connected and Autonomous Vehicles (CAVs) are expected to become a reality on roads in the near future bringing significant social, economic, and environmental benefits. Cooperation and coordination among CAVs will be enabled through Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) wireless communications. Each vehicle knows its current location and in many cases will have to communicate this information to its associated Roadside Unit (RSU). With the proliferation of CAVs, the RSU is expected to receive and process a large amount of feedback information from its assigned CAVs. Thus, an event-triggered communication scheme is proposed instead of conventional approaches where communication takes place in a periodic manner. Further, the effect of age of information on the resulting accuracy of the vehicle tracking error is taken into account by considering the message queue wait time at the RSU. A family of optimization problems is proposed, used to determine the optimal accuracy threshold for the event-triggered algorithm, so as to minimize the effect of the tracking error caused by the queue wait time.