Analysis of Communication Delays in Roadside Detection Systems for Cooperative AEB Implementation

The recent development in the framework of Intelligent Transportation Systems (ITS) relies on the availability of ultra-fast networks for achieving low-latency communication. In fact, for the actual implementation of the Cooperative-Advanced Driving Assistance System(C-ADAS) based on V2X communication, a limited delay can be tolerated for safety-critical control algorithms such as Automatic Emergency Braking (AEB). This work proposes a detailed evaluation of the latency involved in a roadside detection system based on a commercial thermal camera aimed at communicating with surrounding connected vehicles through Message Queue Telemetry Transport (MQTT) protocol. In particular, the focus is pointed on the proposed communication architecture that has been designed and implemented, as well as on how delay can affect the performance of an AEB control logic implementation, highlighting limitations and possible ways to cope with this issue. Experimental results show that the SG-based communication architecture proposed limits E2E latency below 200 ms, which, on the basis of simulation tests for a large public transportation vehicle, still represents a relevant amount of time for safety-critical ADAS implementation, thus requiring some methodologies for delay compensation.