Pedestrian Clustering Method of Vehicle-to-Pedestrian Communication Considering Awareness Rate in Urban Environments

The European Telecommunication Standards Insti-tute (ETSI) defined message including information of surrounding objects in V2P (Vehicle to Pedestrian) for traffic safety such as Cooperative Awareness Message (CAM), Vulnerable road user Awareness Message (VAM) and Collective Perception Message (CPM) In urban environment, convergence is occurred because large number of vehicles and pedestrians send messages. Some works suggested methods of reduction traffic of messages which are clustering or changing traffic rate. In clustering methods, cluster participation conditions are strict for pedestrian in the environment. the methods of changing traffic rate don't consider the are which require high awareness rate to avoid traffic accidents. In this paper, we propose the new threshold to relax joining conditions and the method to determinate VAM generation time in areas designated by vehicles. We compare our threshold with conventional method's one to show improving awareness rate. And we evaluate proposed methods to improve awareness rate in the specific area. In the result, the proposed method increased the object recognition rate, and showed a higher object recognition rate than the conventional method.