A Novel Method To Enable The Awareness Ability Of Non-V2V Vehicles In Vehicular Networks

Autonomous vehicles need to have sufficient perception of the surrounding environment to produce appropriate driving behavior.The vehicle-to-vehicle(V2V)communication technology can exchange the speed,position,orientation and other information between autonomous vehicles to improve the sensing ability of the traditional on-board sensors.For example,V2 V communication technology does not have a blind spot of view like a conventional on-board sensor and V2 V communication is not easily affected by weather conditions.The traditional V2 V communication technology requires that the vehicles in the system must be V2 V vehicle,otherwise the technology can't play its due value.However,it is almost impossible to make every vehicle a V2 V vehicle in the real environment due to reasons such as policy and user choice which greatly reduces the performance of the traditional V2 V system.If the government wants to promote V2 V communication technology,it must force manufacturers to equip each new vehicle with hardware systems and software systems to achieve V2 V communication capabilities,which undoubtedly increases the technical and cost pressure of manufacturers.Moreover,not all car manufacturers have the ability to produce V2 V communication vehicles.The number of cars in the world is very large.Converting every existing car into a V2 V car will be a huge project,which will be a huge government expense.In addition,not all users like and adapt to the driving experience of V2 V communication cars,so it takes a long way for all users to accept V2 V communication cars.These reasons have greatly hindered the promotion and implementation of traditional V2 V communication technology.In this paper,however,we propose a novel method which can extend the awareness ability of traditional V2 V system without adding a lot of extra investment.In traditional V2 V system,only V2 V vehicle can broadcast its own location information.But,the situation is somewhat different in our V2 V system.Although non-V2 V vehicles do not have the ability to broadcast their location information in traditional V2 V system.We can let V2 V vehicle equipped with lidars and other sensors to detect the location information of the surrounding non-V2 V vehicle and then broadcast them out.Therefore,we can think that non-V2 V vehicle can also broadcast its own location information in our V2 V system.In this way,we have greatly expanded the perception of traditional V2 V systems.The proposed method is validated under real-world conditions in urban area.We designed different experimental scenarios to test the reliability of our approach.The experimental results show that our methods have high reliability and feasibility under different experimental scenarios.