A Maneuver Coordination Analysis Using Artery V2X Simulation Framework

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

This paper deals with vehicle communication in a Vehicle-to-Everything (V2X) configuration, enabling vehicles to gain a holistic perception of the environment that contributes to informed decision making about their trajectory.

The main contributions are summarised on page 2, lines 51-58, of which the most important are:   Developing the MCS with MCM integration, providing a basic cooperative driving system for vehicle collaboration and simple MCM generation rules, and Implementing the MCS in Artery V2X simulation platform to coordinate CCAVs using V2X communications. The extension of existing configurations is also evident from the color-coded parts of Fig. 1 on p. 5.

The results of the proposed solution for different scenarios on the road are illustrated in numerous figures and tables.

It can be concluded that they demonstrate the effectiveness of maneuvres with respect to actual speed and safety as well as robustness.

However, some parts could be added or explained.

·        The mathematical equations that are common to the V2X environment are completely missing; at the very least, it would be useful to add equations for evaluation metrics that are not complex.

·        p. 7, l. 241-242: “TraCI, integrated through the Middleware Vehicle Control“ – What does TraCI mean?

Minor notes on the text:

p. 4, l. 142: "confirmation.The proposals" - "confirmation. The proposals" (insert space)

p. 5, l. 165: the line should be separated from the title of Figure 1

For the abbreviation SUMO (used in the abstract and in Figure 1) it should be stated that it stands for Simulation of Urban Mobility.

p. 7, l. 229: : “receiver).The“ – “receiver). The“ (insert space)

p. 7, l. 241: “involved..“ – “involved.“ (only one full stop)

p. 8, l. 278: “collisions.The“ – “collisions. The“

Author Response

I have addressed all the points raised in your review and provided detailed responses in the attached document.

Author Response File: Author Response.pdf

Reviewer 2 Report

Comments and Suggestions for Authors

This paper examines the impact of Vehicle-to-Everything communications on vehicle cooperation. The paper seems to be the applications of the existing methods.

1. The abstract should be concise. It should focus on introducing the novelty of the proposed method.

2. There is lack of theoretical contributions. What are the algorithms for path planning? Please provide the mathematical expression.

3. An important issue is: how conservative is the design of the proposed scheme? Some remarks or discussions are better added to explain how to reduce the conservativeness.

4.  In Figure 1, please clarify the sensors used for collecting vehicle data and implementing precepting algorithm. What is the communication graph among the vehicles?

5.  The  environment noises on the measured vehicles speeds and measured distances between the vehicles may influence the implementation of  the proposed system. An analysis should be given.

6. How to avoid the collision among the vehicles? If there are obstructions in the environments and the sensors cannot work, can the proposed system drive the vehicle out of obstruction area?

7. The advantages of the proposed method over the existing techniques are not clear. In the simulation, there is lack of comparison with existing methods.

 

8.  The conclusion claims that it is possible to mitigate the impact of MCM transmission by varying the transmission rate. Please provide more details. 

Author Response

I have addressed all the points raised in your review and provided detailed responses in the attached document.

Author Response File: Author Response.pdf

Reviewer 3 Report

Comments and Suggestions for Authors

The manuscript has discussed the use of Vehicle-to-Everything (V2X) communications to improve the cooperation of Cooperative, Connected and Automated Vehicles (CCAVs). I can observe that European Telecommunications Standards Institute (ETSI) has been standardizing messages and services for V2X communications, specifically Maneuver Coordination Messages (MCMs) for cooperative path planning. according to authors' outcomes, these messages were successfully implemented in simulation and showed improved safety and efficiency for a Cooperative Intelligent Transportation System (C-ITS).

Generally, it is a well written paper. However, I have a couple of comments. Please see them below:

Figures 1 and 2 are two important figures in this paper. The first one is about system architecture in Artery V2X simulation framework, and the second one is about cooperative Driving System for MCS implementation. The connection between them should be explained. Please justify them and the way they are linked.

The parameter setting required further clarification. Table 2 shows parameter configuration. The general and dynamic rate should be further explained to make them understandable for a reader.

Author Response

I have addressed all the points raised in your review and provided detailed responses in the attached document.

Author Response File: Author Response.pdf

Round 2

Reviewer 2 Report

Comments and Suggestions for Authors

The comments are addressed.