Search Results (57)

Autonomous vehicles (AVs) are transforming transportation by improving safety, efficiency, and intelligence through integrated sensing, computing, and communication technologies. However, their growing reliance on Vehicle-to-Everything (V2X) communication exposes them to cybersecurity vulnerabilities, particularly at the physical layer. Among these, jamming attacks represent a critical threat by disrupting wireless channels and compromising message delivery, severely impacting vehicle coordination and safety. This work investigates the robustness of New Radio (NR)-V2X-enabled vehicular systems under jamming conditions through a dual-methodology approach. First, two Cooperative Intelligent Transport System (C-ITS) scenarios standardized by 3GPP—Do Not Pass Warning (DNPW) and Intersection Movement Assist (IMA)—are implemented in the OMNeT++ simulation environment using Simu5G, Veins, and SUMO. The simulations incorporate four types of jamming strategies and evaluate their impact on key metrics such as packet loss, signal quality, inter-vehicle spacing, and collision risk. Second, a complementary laboratory experiment is conducted using AnaPico vector signal generators (a Keysight Technologies brand) and an Anritsu multi-channel spectrum receiver, replicating controlled wireless conditions to validate the degradation effects observed in the simulation. The findings reveal that jamming severely undermines communication reliability in NR-V2X systems, both in simulation and in practice. These findings highlight the urgent need for resilient NR-V2X protocols and countermeasures to ensure the integrity of cooperative autonomous systems in adversarial environments. Full article

Cooperative Intelligent Transport Systems (C-ITS) have emerged as a key enabler of more efficient, safer, and environmentally sustainable road traffic by allowing vehicles and infrastructure to exchange information and coordinate behavior. To evaluate their benefits, impact assessment studies are essential. However, most existing studies focus on individual C-ITS services in isolation, overlooking how combined deployments influence outcomes. This study addresses this gap by presenting the first systematic evaluation of individual and joint deployments of Cooperative Adaptive Cruise Control (CACC) and Green Light Optimal Speed Advisory (GLOSA) under diverse conditions. A dual-model simulation framework is applied, combining controlled artificial networks with calibrated real-world corridors in Upper Austria. This allows both statistical testing and validation of plausibility in real-world contexts. Key performance indicators include travel time and CO₂ emissions, evaluated across varying lane configurations, numbers of traffic lights, demand levels, and equipment rates. The results demonstrate that C-ITS effectiveness is strongly context-dependent: while CACC generally provides larger efficiency gains, GLOSA yields consistent emission reductions, and the combined deployment offers conditional synergies but may also diminish benefits at high demand. The study contributes a guideline for selecting service configurations based on site conditions, thereby providing practical recommendations for future C-ITS rollouts. Full article

Timely and accurate traffic information is crucial for maintaining safety and efficiency on motorway networks. This research examines time delays in traffic information transmission through intelligent transport systems (ITSs) and cooperative intelligent transport systems (C-ITSs) on the Slovenian motorway network. The aim of the research is to assess the effectiveness of existing notification systems and the impact of time delays on the timely informing of drivers in the event of an accident in a tunnel. Using real-world data from Regional Traffic Center (RCC) in Vransko, manual and automated activations of traffic portals and different update frequencies of the Promet+ mobile application were analyzed during peak hours. Results show that automated activation reduces delays from 34 to 25 s at portals and from 27 to 18 s in the Promet+ app. Continuous updates in the app provided the highest driver coverage, leaving only 15 uninformed drivers in the morning peak and 8 in the afternoon, whereas 60 s update intervals left up to 71 drivers uninformed. These findings highlight the effectiveness of automation and continuous updates in minimizing delays and improving driver awareness. The research contributes by quantifying latency in ITSs and C-ITSs and demonstrating that their combined use offers the most reliable information delivery. Future improvements should focus on hybrid integration of ITS and C-ITS, dynamic update intervals, and infrastructure upgrades to ensure consistent real-time communication, shorter response times, and enhanced motorway safety. Full article

Traffic congestion is a primary obstacle to sustainable mobility, leading to increased fuel consumption, harmful emissions, and significant economic losses. Effective and timely congestion detection is therefore a critical enabler for proactive traffic management strategies that can mitigate these negative impacts. This study contributes to this goal by conducting a rigorous comparative analysis of two key detection paradigms: a modern, vehicle-centric approach using a Cooperative Intelligent Transportation Systems (C-ITS) service, and a traditional, infrastructure-based method relying on the fundamental diagram (FD). Using a comprehensive simulation campaign on a bottleneck scenario, we evaluate the performance of both methods under various conditions. The results demonstrate that while the FD-based method can offer faster detection under optimal sensor placement for severe events, the C-ITS approach provides fundamentally greater spatial flexibility and reliability across a wider range of congestion severities. Our techno-economic analysis further reveals that the paradigms rely on distinct investment models, with C-ITS offering superior scalability and a promising path toward network-wide coverage. This highlights the complementary nature of the two approaches and underscores the potential of C-ITS as a key technology to support dynamic, efficient, and sustainable transportation networks. Full article

Roadside communication networks with Cooperative Intelligent Transport Systems (C-ITSs) offer services that aim to enhance traffic management and road safety.This paper presents a comprehensive scalability study of C-ITSs to support a deployment of Day 1 advisory services on the busiest Irish motorway. Specifically, the performance of the two standardized C-ITS short-range communication technologies, namely ITS-G5 and C-V2X, are quantified. Both technologies are evaluated while considering different market penetration rates (MPRs), real-world vehicle densities during daily time periods, and data traffic demands linked to real world C-ITS services. The simulation results show that ITS-G5 performs slightly better at shorter distances, and C-V2X performs marginally better at medium and longer distances, benefiting from technology that supports better signal quality and communication robustness. Full article

The widespread deployment of Cooperative Intelligent Transport Systems (C-ITS) has elevated the need for robust, real-time sensor fusion strategies capable of handling noisy, asynchronous data from multiple infrastructure sensors. In this paper, we propose a two-stage data fusion framework that integrates a grid-based indexing method for efficient duplicate-object detection with a Light Gradient Boosting Machine (LGBM) augmented by an Extended Kalman Filter (EKF). In the first stage, the hybrid EKF–LGBM model mitigates noise, refines object trajectories, and synchronizes sensor streams under varying noise conditions. In the second stage, the grid-based indexing technique rapidly associates objects detected by multiple sensors, merging their measurements into unified state estimates. Extensive experiments—using both synthetic data, where noise scales ranged from 0.5 to 3, and a real-road dataset—confirm that our approach balances near-real-time performance with significantly improved trajectory accuracy. For instance, at a noise scale of 1, the hybrid method outperforms the Unscented Kalman Filter (UKF) while running up to 1.81 times faster, and real-world tests show a 1.54 times RMSE improvement over baseline measurements. By efficiently filtering out noise and minimizing the computational overhead of pairwise comparisons, the proposed system demonstrates practical feasibility with respect to C-ITS applications. Full article

Red-light running at signalised intersections poses a significant safety risk, necessitating advanced predictive technologies to predict red-light violation behaviour, especially for advanced red-light warning (ARLW) systems. This research leverages Long Short-Term Memory (LSTM) and Gated Recurrent Unit (GRU) models to forecast the red-light running and stopping behaviours of drivers in connected vehicles. We utilised data from the Ipswich Connected Vehicle Pilot (ICVP) in Queensland, Australia, which gathered naturalistic driving data from 355 connected vehicles at 29 signalised intersections. These vehicles broadcast Cooperative Awareness Messages (CAM) within the Cooperative Intelligent Transport Systems (C-ITS), providing kinematic inputs such as vehicle speed, speed limits, longitudinal and lateral accelerations, and yaw rate. These variables were monitored at 100-millisecond intervals for durations from 1 to 4 s before reaching various distances from the stop line. Our results indicate that the LSTM model outperforms the GRU in predicting both red-light running and stopping behaviours with high accuracy. However, the pre-trained GRU model performs better in predicting red-light running specifically, making it valuable in applications requiring early violation prediction. Implementing these models can enhance red-light violation countermeasures, such as dynamic all-red extension (DARE), decreasing the likelihood of severe collisions and enhancing road users’ safety. Full article

This paper examines the impact of Vehicle-to-Everything (V2X) communications on vehicle cooperation, focusing on increasing the robustness and feasibility of Cooperative, Connected, and Automated Vehicles (CCAVs). V2X communications enable CCAVs to obtain a holistic environmental perception, facilitating informed decision making regarding their trajectory. This technological innovation is essential to mitigate accidents resulting from inadequate or absent communication on the roads. As the importance of vehicle cooperation grows, the European Telecommunications Standards Institute (ETSI) has been standardizing messages and services for V2X communications, in order to improve the synchronization of CCAVs actions. In this context, this preliminary work explores the use of Maneuver Coordination Messages (MCMs), under standardization by ETSI, for cooperative path planning. This work presents a novel approach by implementing these messages as well as the associated Maneuver Coordination Service (MCS) with a Cooperative Driving System to process maneuver coordination. Additionally, a trajectory approach is introduced along with a message generation mechanism and a process to dynamically handle collisions. This was implemented in an Artery V2X simulation framework combining both network communications and SUMO traffic simulations. The obtained results demonstrate the effectiveness of using V2X communications to ensure the safety and efficiency of Cooperative Intelligent Transportation Systems (C-ITS). Full article

In the field of Cooperative Intelligent Transport Systems (C-ITSs), the traditional approach to testing often emphasizes technological parameters, leaving the validation of message content insufficiently addressed. Since the content of these messages is crucial for the correct functioning of C-ITS, this article demonstrates the potential for automated evaluation of C-ITS message content against relevant standards. It leverages our novel tools, Karlos and C-ITS SIM, to facilitate this process. Through detailed laboratory testing and data analysis, the study showcases the effectiveness of these automated solutions in enhancing the accuracy and reliability of message content validation. Full article

With the deployment of cooperative intelligent transportation systems (C-ITSs), the telecommunication systems and their performance occupy a key position in ensuring safe, robust, and resilient services to the end-users. Regardless of the adopted protocol, adequate road network coverage might affect the service performance, in terms of traffic and environmental efficiency. In this study, we analyze the traffic efficiency and emission pollutant sensitivity to the location of ad hoc network antennas when the C-ITS services disseminate dynamic messages to control the speed limit and ensure sustainable mobility. We design the experimentation with short-range communication resulting from an ad hoc network and requiring Roadside Units (RSUs) along the road to broadcast messages within their communication range to the end-user. The performance variability according to the RSUs’ location and effective road network coverage are highlighted through our microscopic simulation-based experimentations. This paper develops a sensitivity analysis to evaluate the impact of the network mesh according to the C-ITS service under consideration. Focus is placed on the variable speed limit (VSL) service, controlling upstream speed to restrict congestion and ensure more sustainable mobility. The results show that, while the traffic efficiency improves even at a low market penetration rate (MPR) of the connected vehicles, the environmental efficiency improves only at a high MPR. From the telecommunication perspective, an expansive broadcast strategy appears to be more effective than the conservative approach. Full article

The paper evaluates the DARS Traffic Plus mobile application within a realistic driving simulator environment to assess its impact on driving safety and user experience, particularly focusing on the Cooperative Intelligent Transport Systems (C-ITS). The study is positioned within the broader context of integrating mobile technology in vehicular environments to enhance road safety by informing drivers about potential hazards in real time. A combination of experimental methods was employed, including a standardised user experience questionnaire (meCUE 2.0), measuring quantitative driving parameters and eye-tracking data within a driving simulator, and post-experiment interviews. The results indicate that the mobile application significantly improved drivers’ safety perception, particularly when notifications about hazardous locations were received. Notifications displayed at the top of the mobile screen with auditory cues were deemed most effective. The study concludes that mobile applications like DARS Traffic Plus can play a crucial role in enhancing road safety by effectively communicating hazards to drivers, thereby potentially reducing road accidents and improving overall traffic safety. Screen viewing was kept below the safety threshold, affirming the app’s efficacy in delivering crucial information without distraction. These findings support the integration of C-ITS functionalities into mobile applications as a means to augment older vehicle technologies and extend the safety benefits to a broader user base. Full article

Bluetooth Low Energy (BLE) is a prominent short-range wireless communication protocol widely extended for communications and sensor systems in consumer electronics and industrial applications, ranging from manufacturing to retail and healthcare. The BLE protocol provides four generic access profile (GAP) roles when it is used in its low-energy version, i.e., ver. 4 and beyond. GAP roles control connections and allow BLE devices to interoperate each other. They are defined by the Bluetooth special interest group (SIG) and are primarily oriented to connect peripherals wirelessly to smartphones, laptops, and desktops. Consequently, the existing GAP roles have characteristics that do not fit well with vehicular communications in cooperative intelligent transport systems (C-ITS), where low-latency communications in high-density environments with stringent security demands are required. This work addresses this gap by developing two new GAP roles, defined at the application layer to meet the specific requirements of vehicular communications, and by providing a service application programming interface (API) for developers of vehicle-to-everything (V2X) applications. We have named this new approach ITS-BLE. These GAP roles are intended to facilitate BLE-based solutions for real-world scenarios on roads, such as detecting road traffic signs or exchanging information at toll booths. We have developed a prototype able to work indistinctly as a unidirectional or bidirectional communication device, depending on the use case. To solve security risks in the exchange of personal data, BLE data packets, here called packet data units (PDU), are encrypted or signed to guarantee either privacy when sharing sensitive data or authenticity when avoiding spoofing, respectively. Measurements taken and their later evaluation demonstrated the feasibility of a V2X BLE network consisting of picocells with a radius of about 200 m. Full article

Cooperative Intelligent Transport Systems (C-ITS) address contemporary transportation challenges, as Connected Vehicles (CVs) can play a pivotal role in enhancing efficiency and safety. The role of central governing authorities in shaping traffic management policies for CVs influences decision-making processes and system performance. In this work, the role of central governing authorities in the traffic management of a mixed traffic network is examined, integrating System Optimum principles with game theory. More specifically, we introduce and develop a framework that models and analyses the strategic interactions between different stakeholders in a mixed traffic environment, considering central governing authorities with varying levels of control. The results indicate how the various levels of control of a central governing authority may have an impact on the network in terms of traffic measures. Through a strategic games analysis, the trade-offs associated with centralized control mechanisms are demonstrated and recommendations are offered for policymakers and practitioners to optimize traffic management strategies. Full article

The efficient operation and interaction of autonomous robots play crucial roles in various fields, e.g., security, environmental monitoring, and disaster response. For these purposes, processing large volumes of sensor data and sharing data between robots is essential; however, processing such large data in an on-device environment for robots results in substantial computational resource demands, causing high battery consumption and heat issues. Thus, this study addresses challenges related to processing large volumes of sensor data and the lack of dynamic object information sharing among autonomous robots and other mobility systems. To this end, we propose an Edge-Driving Robotics Platform (EDRP) and a Local Dynamic Map Platform (LDMP) based on 5G mobile edge computing and Kubernetes. The proposed EDRP implements the functions of autonomous robots based on a microservice architecture and offloads these functions to an edge cloud computing environment. The LDMP collects and shares information about dynamic objects based on the ETSI TR 103 324 standard, ensuring cooperation among robots in a cluster and compatibility with various Cooperative-Intelligent Transport System (C-ITS) components. The feasibility of operating a large-scale autonomous robot offloading system was verified in experimental scenarios involving robot autonomy, dynamic object collection, and distribution by integrating real-world robots with an edge computing–based offloading platform. Experimental results confirmed the potential of dynamic object collection and dynamic object information sharing with C-ITS environment components based on LDMP. Full article

Cooperative communications advancements in Vehicular-to-Everything (V2X) are bolstering the autonomous driving paradigm. V2X nodes are connected through communication technology, such as a short-range communication mode (Dedicated Short Range Communication (DSRC) and Cellular-V2X) or a long-range communication mode (Uu). Conventional vehicular networks employ static wireless vehicular communication technology without considering the traffic load on any individual V2X communication technology and the traffic dynamics in the vicinity of the V2X node, and are hence inefficient. In this study, we investigate hybrid V2X communication and propose an autonomous and intelligent technology selection algorithm using a decision tree. The algorithm uses the information from the received Cooperative Intelligent Transport Systems (C-ITS) Cooperative Awareness Messages (CAMs) to collect statistics such as inter vehicular distance, one-way end-to-end latency and CAM density. These statistics are then used as input for the decision tree for selecting the appropriate technology (DSRC, C-V2X PC5 or 5G) for the subsequent scheduled C-ITS message transmission. The assessment of the intelligent hybrid V2X algorithm’s performance in our V2X test setup demonstrates enhancements in one-way end-to-end latency, reliability, and packet delivery rate when contrasted with the conventional utilization of static technology. Full article