Towards Cooperative VRUs: Optimal Positioning Sampling for Pedestrian Awareness Messages
CoRR(2023)
摘要
Road safety is the main motivation for Cooperative Intelligent Transport
Systems (C-ITS) in general, and vehicular communications (V2X) technology in
particular. The V2X-based Vulnerable Road User (VRU) protection is an approach
that relies on the persistent broadcasting of "beacon" awareness messages by a
VRU mobile device. To this end the European Telecommunications Standards
Institute (ETSI) has specified the Vulnerable Road User Awareness Message (VAM)
as well as the overall ITS-G5 protocol stack enabling a variety of the V2X
applications. This article studies how often pedestrians (a type of VRU) should
check their position to issue a VAM. To that end, we characterize the rate at
which pedestrians generate VAMs leveraging a recognized mobility model, and
formulate an optimization problem to minimize the time elapsed between VAMs. We
propose an algorithm to solve the problem in 802.11p and assess its accuracy
through numerical and simulation campaigns. Results evidence the accuracy of
our VAM rate characterization, and evidence that we decrease ETSI positioning
sampling rate by more than 30%. On top, our solution decreases the time between
VAMs, and increases the packet delivery ratio. In other words, our approach
increases the pedestrians safety while reducing the battery consumption of
mobile devices.
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