A Novel Method for Extending V2V System

Autonomous vehicles requires sufficient perception of the surrounding environment to make proper driving behavior. Vehicle-to-vehicle (V2V) is a technology that allow vehicles exchange location information (i.e. velocity, position) which can improve the perception capabilities of traditional on-board sensors. However, there are still obstacles preventing the roll-out of the V2X technology, mainly the fact that, unless almost the totality of the existing vehicles adopt it, its effectiveness is rather limited. We can't guarantee that all vehicles are V2V vehicles in real environment due to many reasons. In the traditional V2V system, only V2V vehicle have the ability to broadcast their own location information, but non-V2V vehicle can't. But, the situation is somewhat different in our V2V system. Although, non-V2V vehicles don't have the ability to broadcast their own location information, we can let V2V vehicle detect the location information of non-V2V vehicle and broadcast them out. Therefore, we can think that the non-V2V vehicle can also have the ability to broadcast its own location information in our V2V system. In this way, we extend the ability of traditional V2V system to a certain extent. The proposed method is validated under real-world conditions in urban area.