Wireless communications play a key role in intelligent transportation systems for bearing multiple application services with different quality of service (QoS) requirements. Hierarchical modulation (HM) is an effective technique to increase the spectral efficiency (SE) of differentiated services multiplexing transmissions. In high mobility scenario, due to the impact of the feedback delay and channel estimation error, only the imperfect channel state information is available at the transmitter. Thus, the performance of the existing HM schemes degrades severely. In this paper, we propose a robust adaptive HM scheme to increase the overall SE in the mobile orthogonal frequency division multiplexing system. The bit error rate of the HM symbol is derived for the reliable QoS-aware multi-service transmission, and the strategies of bit assignment and modulation parameters selection for different services are designed. Finally, comparing with the traditional uniform modulation scheme, the proposed robust adaptive HM scheme increases the overall SE of multiplexing transmissions by $$15\%$$ at $$300\,\hbox { km}/\hbox {h}$$ .
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