Evaluating The Requirements Of Communicating Vehicles In Collaborative Automated Driving

In this paper, we analyze mixed traffic environments consisting of fully autonomous vehicles, vehicles capable of communication only, and manually driven vehicles to determine what self-generated content should be shared among peer vehicles for increased traffic intelligence. For this purpose, we present information sharing utility-cost tables for a variety of communication strategies. These tables are used to determine communication requirements in terms of bandwidth, distance, packet delay and loss rate tolerance. We specifically evaluate vehicle lane change events due to their role as foundational building blocks in most other traffic scenarios. The presented work demonstrates requirements for the communication systems in mixed-traffic environments based on sharing and fusing necessary sensor information using occupancy grid mapping.