Slow Moving Vehicle, Do Not Pass, and Stationary Vehicle V2V Warnings Based on DSRC Basic Safety Messages

Motor vehicle accidents involve a wide range of conditions and variables. The vast majority of them are due to human mistakes causing head-on and rear-end incidents. To reduce these, Connected Vehicle (CV) technology installed in the vehicles can alert the drivers in advance through various Vehicle-to-Vehicle (V2V) warnings. In this work, we demonstrate how the relative angle can be employed to accurately warn drivers to avoid the above-mentioned incidents with Slow Moving Vehicle Warning (SMVW), Do Not Pass Warning (DNPW), and Stationary Vehicle Warning (SVW) V2V applications. Based on our prior work, the relative angle is derived using the relative position of the vehicles. We use this, distance, and heading angle difference between the vehicles to determine if the vehicle is in a dangerous situation. Additionally, the SMVW algorithm checks if the speed difference between vehicles is greater than a set threshold. The DNPW algorithm initially uses SMVW logic to determine whether a slow-moving vehicle is ahead. If true, it checks for an approaching vehicle in the opposite direction. For SVW, we assume that individual vehicles check to determine whether they are stationary, and the SVW algorithm looks for this in the receiving messages. We have implemented the proposed algorithms in the CARLA simulator and demonstrated their correctness in a multi-lane scenario.