Rethinking cooperative awareness for future V2X safety-critical applications

In this paper, we redefine cooperative awareness to include both GPS and communication-induced position errors. We reduce the GPS error through fusion-based Cooperative Localization (CLoc), and exchange such information instead of GPS coordinates. We mitigate the communication-induced errors by a novel awareness control strategy aiming at breaking the 10Hz barrier using a very lightweight awareness message. We evaluate the scalability limit of our strategy and show via simulation results that we can reach a packet Inter-Reception Time (IRT) of 15ms up to 50m at a channel load below 60%, leading to a position awareness error below 0.8m. This is a 4x improvement compared to current standards, and is an enabler to the reactivity and precision required by future ITS-G5 autonomous vehicles.