What Is the Right Bounding Box of a VRU Cluster in V2X Communication? How to Form a Good Shape?

Leonardo Barbosa da Silva, Silas Lobo, Evelio Martín García Fernández, Christian Facchi

2024

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.

Paper Citation

in Harvard Style

Barbosa da Silva L., Lobo S., Martín García Fernández E. and Facchi C. (2024). What Is the Right Bounding Box of a VRU Cluster in V2X Communication? How to Form a Good Shape?. In Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS; ISBN 978-989-758-703-0, SciTePress, pages 144-155. DOI: 10.5220/0012699100003702

in Bibtex Style

@conference{vehits24,
author={Leonardo Barbosa da Silva and Silas Lobo and Evelio Martín García Fernández and Christian Facchi},
title={What Is the Right Bounding Box of a VRU Cluster in V2X Communication? How to Form a Good Shape?},
booktitle={Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},
year={2024},
pages={144-155},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012699100003702},
isbn={978-989-758-703-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS
TI - What Is the Right Bounding Box of a VRU Cluster in V2X Communication? How to Form a Good Shape?
SN - 978-989-758-703-0
AU - Barbosa da Silva L.
AU - Lobo S.
AU - Martín García Fernández E.
AU - Facchi C.
PY - 2024
SP - 144
EP - 155
DO - 10.5220/0012699100003702
PB - SciTePress