Connected Vehicles for Automated Functions: from Enhanced Perception to Negotiated Manoeuvres.

Today vehicle automated functions represent the most challenging R&I aspect in the field of safe mobility. Sensor and communication technologies are expected to work together to create a robust perception, a key requirement to enable a sustainable deployment of automated vehicle functions in real traffic environments. This paper introduces the basic concepts of data exchange among vehicles, and between vehicles and infrastructure (V2X), that is meant to complement vehicle sensing capabilities for applications with increasing levels of automation in urban scenario. It also shows how, in a longer-term deployment perspective, V2X can support manoeuver negotiation. Subsumption architecture is adopted for the hierarchical control of the vehicles, which achieves a flexible adaptation to different automation levels. For what concerns communication, the main aspects are the proper selection of data to be exchanged, and the most appropriate use of different communication technologies (e.g. IEEE.802.11p, 4G/LTE).