Authors:
Leonardo Barbosa da Silva
1
;
Silas Lobo
2
;
Evelio Martín García Fernández
1
and
Christian Facchi
2
Affiliations:
1
Department of Electrical Engineering, Universidade Federal do Paraná, Curitiba, Brazil
;
2
CARISSMA (C-ECOS), Technische Hochschule Ingolstadt, Ingolstadt, Germany
Keyword(s):
Vulnerable Road Users, VRU Clustering, Cluster Bounding Boxes, V2X Communication, Vulnerable Road User Awareness Message, VAM, VRU Basic Service.
Abstract:
Among the possible traffic members on a Vehicle-to-Everything network, the term Vulnerable Road User (VRU) is assigned e.g. to pedestrians and cyclists. The VRU Awareness Message (VAM) is used by VRUs to inform other users of their presence and ensure they are perceived in a traffic system. Since the number of VRUs in crowded areas might be very high, the over-the-air traffic might be overloaded. To reduce channel overload, VAMs offer a clustering feature in which VRUs with similar kinematics and positions can group themselves so that only one device transmits messages. The VRU Basic Service specification describes the cluster as a bounding box that must cover all its members using a geometric shape so that other vehicles in the vicinity can avoid colliding with the contained VRUs. This paper contributes to the standardization effort by introducing a data structure, the Cluster Map, for the clustering in the VRU Basic Service. Furthermore, this work is the first to suggest strategies
for forming bounding box shapes. Simulation results show that each of the geometry types is useful in different situations, thus further research on the topic is advised.
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