Comparing V2X and RADAR safety performance in NLOS scenarios

Scenario 1: Highway car following in road curve 

This scenario simulates a highway environment where two vehicles (HV and RV) communicate via V2X and HV is also equipped with radar sensor, while navigating a curved road. The leading remote vehicle (RV) is moving with constant speed and it is intially out of range of HV's radar sensor.

Safety metrics such as Time-to-Collision (TTC) are evaluated to analyze the system's performance under the influence of NLOS situations and road curvature. Dataset file: Highway_road_curve_scenario.csvScenario 2: Intersection scenario This scenario involves two vehicles crossing each other paths and communicating via V2X at an intersection. Radar and V2X data are used to calculate safety indicators such as Time-to-Intersection (TTI), assessing the effectiveness of cooperative communication in mitigating collision risks. Dataset file: Intersection_scenario.csv

Simulation parameters

Layer
Parameter
Value / Description

Simulation Environment
Simulator
Vector DYNA4 R9, Vector CANoe 18

Hardware
AMD Ryzen 7 3800X CPU, 16 GB RAM

Operating System
Windows 11

Simulation Time Step (∆t)
10 ms

Communication Technology
Access Technology
IEEE 802.11p / ETSI ITS-G5

Network Interface
Vector VN4610

Message Type
Cooperative Awareness Messages (CAMs)

Protocol Stack Standards
PHY/MAC access layer defined by ETSI EN302663 (ITS-G5) based on IEEE802.11p with logical link control; Decentralized Congestion

Control mechanisms per ETSI TS102687

MAC/PHY Configuration
Channel
EU Control Channel (EU-CCH 180)

Channel Bandwidth (B)
10 MHz

Data Rate (Rb)
6 Mbps

Transmit Power (Ptx)
23 dBm

Frame Format
LLC protocol discrimination (LPD)

Safety Metric
Time-to-Collision (TTC)
Computation based on relative distance and relative velocity between

HV and RV

S1 scenario
Layout and initialization
The HV was initialized at the start of a 90 m straight road section leading into a curve, while the stationary RV was positioned at the midpoint of the curved section. The curve radius was set to 600 m with a central angle of 120◦.

S2 scenario
Layout and initialization
Four-way urban intersection with one incoming and one outgoing lane in every direction. Both vehicles were initialized with an initial Time to Intersection of 5 seconds