Increasing vehicles perception using cooperative relaying and priority-based beaconing

The use of vehicle's on-board sensors in increasing the perception of cooperative vehicles is becoming prevailing and essential for the road safety. However trusting only on the on-board sensors could limit the perception of the cooperative vehicles for example an object/vehicle can not be detected if it is impeded by some obstruction. The perception efficiency of vehicles can be increased beyond their field of view (FoV) by exchanging the sensor detected information through V2X communication. The perception of vehicles can be more accurate as much as frequent they share the information. However by transmitting numerous messages could saturate the communication channel and deteriorate the perception improvement specially in the dense circumstances. In this paper we address both these issues and propose two different schemes, (i) an information propagating mechanism to increase the cooperative vehicle's perception above their FoV and (ii) an optimal dynamic cooperative priority based beaconing model to coup with the channel congestion. By using the information propagation mechanism we can increase the perception of cooperative vehicles up to their maximum communication range and on the other end probability based dynamic cooperative priority beaconing scheme selects the most suitable cooperative vehicle to transmit based on its on-board sensor facility. These proposed mechanisms immensely decrease the contention on the channel while extend the perception beyond the FoV. We evaluate both the mechanisms for the performance in terms of vehicles awareness, channel load and communication range through simulations for several vehicle densities. The simulation results show that these proposals provide better performance compare to the classical beaconing schemes.