Abstract
Cooperative driving is a key enabler for safe and efficient driving. The European Telecommunications Standards Institute (ETSI) published standards for message dissemination and packet formats for continuous status notification, i.e., Cooperative Awareness Message (CAM), and asynchronous event notification, i.e., Decentralized Environmental Notification Message (DENM). Cooperative Intelligent Transportation Systems (C-ITS), such as platooning, rely on these messages that are exchanged between vehicles and infrastructure. However, CAM and DENM do not target cooperativeness: future paths can not be shared. Therefore, in this paper we present a modified CAM structure that allows a vehicle to indicate its own future trajectory over a variable spatial and temporal horizon. It may be used in combination with DENM to cooperatively handle events and limiting their impact. The presented approach is tested in simulation using Omnet++ and Simulation of Urban Mobility (SUMO) considering an IEEE 802.11p network.
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