{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T14:48:26Z","timestamp":1740149306514,"version":"3.37.3"},"reference-count":37,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2018,5,11]],"date-time":"2018-05-11T00:00:00Z","timestamp":1525996800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"Platooning is a cooperative driving application where autonomous\/semi-autonomous vehicles move on the same lane in a train-like manner, keeping a small constant inter-vehicle distance, in order to reduce fuel consumption and gas emissions and to achieve safe and efficient transport. To this aim, they may exploit multiple on-board sensors (e.g., radars, LiDARs, positioning systems) and direct vehicle-to-vehicle communications to synchronize their manoeuvres. The main objective of this paper is to discuss the design choices and factors that determine the performance of a platooning application, when exploiting the emerging cellular vehicle-to-everything (C-V2X) communication technology and considering the scheduled mode, specified by 3GPP for communications over the sidelink assisted by the eNodeB. Since no resource management algorithm is currently mandated by 3GPP for this new challenging context, we focus on analyzing the feasibility and performance of the dynamic scheduling approach, with platoon members asking for radio resources on a per-packet basis. We consider two ways of implementing dynamic scheduling, currently unspecified by 3GPP: the sequential mode, that is somehow reminiscent of time division multiple access solutions based on IEEE 802.11p\u2014till now the only investigated access technology for platooning\u2014and the simultaneous mode with spatial frequency reuse enabled by the eNodeB. The evaluation conducted through system-level simulations provides helpful insights about the proposed configurations and C-V2X parameter settings that mainly affect the reliability and latency performance of data exchange in platoons, under different load settings. Achieved results show that the proposed simultaneous mode succeeds in reducing the latency in the update cycle in each vehicle\u2019s controller, thus enabling future high-density platooning scenarios.<\/jats:p>","DOI":"10.3390\/s18051527","type":"journal-article","created":{"date-parts":[[2018,5,14]],"date-time":"2018-05-14T06:57:20Z","timestamp":1526281040000},"page":"1527","source":"Crossref","is-referenced-by-count":71,"title":["Cellular-V2X Communications for Platooning: Design and Evaluation"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9796-6378","authenticated-orcid":false,"given":"Giovanni","family":"Nardini","sequence":"first","affiliation":[{"name":"Dipartimento di Ingegneria dell Informazione, University of Pisa, Largo Lucio Lazzarino 1, 56122 Pisa, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0629-1078","authenticated-orcid":false,"given":"Antonio","family":"Virdis","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria dell Informazione, University of Pisa, Largo Lucio Lazzarino 1, 56122 Pisa, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3281-6680","authenticated-orcid":false,"given":"Claudia","family":"Campolo","sequence":"additional","affiliation":[{"name":"Dipartimento DIIES, University Mediterranea di Reggio Calabria, Via Graziella, Loc. Feo di Vito, 89122 Reggio Calabria, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2731-300X","authenticated-orcid":false,"given":"Antonella","family":"Molinaro","sequence":"additional","affiliation":[{"name":"Dipartimento DIIES, University Mediterranea di Reggio Calabria, Via Graziella, Loc. Feo di Vito, 89122 Reggio Calabria, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5310-6763","authenticated-orcid":false,"given":"Giovanni","family":"Stea","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria dell Informazione, University of Pisa, Largo Lucio Lazzarino 1, 56122 Pisa, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2018,5,11]]},"reference":[{"key":"ref_1","first-page":"158","article-title":"From today\u2019s VANETs to tomorrow\u2019s planning and the bets for the day after","volume":"2","author":"Campolo","year":"2015","journal-title":"Veh. Commun."},{"key":"ref_2","unstructured":"(2015). White Paper on Automotive Vertical Sector, 5G Automotive Vision, European Commission."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"192","DOI":"10.1109\/MCOM.2015.7180527","article-title":"Vehicle-to-vehicle communication in C-ACC\/platooning scenarios","volume":"53","author":"Vinel","year":"2015","journal-title":"IEEE Commun. Mag."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"2901","DOI":"10.1109\/TVT.2012.2203362","article-title":"Autonomous platoon control allowing range-limited sensors","volume":"61","author":"Guo","year":"2012","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_5","unstructured":"(2012). IEEE Std. 802.11-2012: IEEE Standard for Information Technology\u2014Part 11: Wireless LAN Medium Access Control (MAC) and Physical Layer (PHY) Specifications, IEEE."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Bohm, A., Jonsson, M., and Uhlemann, E. (2013, January 7\u20139). Performance comparison of a platooning application using the IEEE 802.11p MAC on the control channel and a centralized MAC on a service channel. Proceedings of the 2013 IEEE 9th International Conference on Wireless and Mobile Computing, Networking and Communications (WiMob), Lyon, France.","DOI":"10.1109\/WiMOB.2013.6673411"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1109\/TITS.2011.2179936","article-title":"Platooning with IVC-enabled autonomous vehicles: Strategies to mitigate communication delays, improve safety and traffic flow","volume":"13","author":"Fernandes","year":"2012","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"5411","DOI":"10.1109\/TVT.2015.2489459","article-title":"Toward communication strategies for platooning: simulative and experimental evaluation","volume":"64","author":"Segata","year":"2015","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_9","unstructured":"(2018, May 11). 3GPP TS 23.303, v 12.8.0, Technical Specification Group Services and System Aspects, Proximity-Based Services (ProSe), Stage 2, Release 12, 2016. Available online: https:\/\/portal.3gpp.org\/desktopmodules\/Specifications\/SpecificationDetails.aspx?specificationId=840."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1784","DOI":"10.1109\/TITS.2014.2377074","article-title":"D2D for intelligent transportation systems: A feasibility study","volume":"16","author":"Cheng","year":"2015","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"2756","DOI":"10.1109\/TWC.2015.2509978","article-title":"Cluster-based radio resource management for D2D-supported safety-critical V2X communications","volume":"15","author":"Sun","year":"2016","journal-title":"IEEE Trans. Wirel. Commun."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"6636","DOI":"10.1109\/TVT.2015.2479248","article-title":"Radio resource management for D2D-based V2V communication","volume":"65","author":"Sun","year":"2016","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Hisham, A., Sun, W., Str\u00f6m, E.G., and Br\u00e4nnstr\u00f6m, F. (2016, January 22\u201327). Power control for broadcast V2V communications with adjacent carrier interference effects. Proceedings of the 2016 IEEE International Conference on Communications (ICC), Kuala Lumpur, Malaysia.","DOI":"10.1109\/ICC.2016.7511128"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Botsov, M., Staliczak, S., and Fertl, P. (2016, January 8\u201310). On the overhead of radio resource management schemes for mobile underlay D2D communication. Proceedings of the 2016 IEEE Vehicular Networking Conference (VNC), Columbus, OH, USA.","DOI":"10.1109\/VNC.2016.7835936"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"3186","DOI":"10.1109\/TCOMM.2017.2699194","article-title":"Resource allocation for D2D-enabled vehicular communications","volume":"65","author":"Liang","year":"2017","journal-title":"IEEE Trans. Commun."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Silva, C.M., Masini, B.M., Ferrari, G., and Thibault, I. (2017). A survey on infrastructure-based vehicular networks. Mob. Inf. Syst., 2017.","DOI":"10.1155\/2017\/6123868"},{"key":"ref_17","unstructured":"(2018, May 11). 3GPP TS 36.213, v 14.2.0, Technical Specification Group Radio Access Network (RAN), Evolved Universal Terrestrial Radio Access (E-UTRA), Physical Layer Procedures, Release 14, 2016. Available online: https:\/\/portal.3gpp.org\/desktopmodules\/Specifications\/SpecificationDetails.aspx?specificationId=2427."},{"key":"ref_18","unstructured":"(2018, May 11). 3GPP TS 36.300, v 14.4.0, Technical Specification Group Radio Access Network; Evolved Universal Terrestrial Radio Access (E-UTRA and Evolved Terrestrial Radio Access Network (E-UTRAN, Overall description), Release 14, 2017. Available online: https:\/\/portal.3gpp.org\/desktopmodules\/Specifications\/SpecificationDetails.aspx?specificationId=2430."},{"key":"ref_19","unstructured":"(2018, May 11). EN 102 637-2 v1.3.1, ITS, Vehicular Communications, Basic Set of Applications, Part 2: Specification of Cooperative Awareness Basic Service, 2014. Available online: http:\/\/www.etsi.org\/deliver\/etsi_en\/302600_302699\/30263702\/01.03.01_30\/en_30263702v010301v.pdf."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Nguyen, T.V., Shailesh, P., Sudhir, B., Kapil, G., Jiang, L., Wu, Z., Malladi, D., and Li, J. (2017, January 27\u201329). A comparison of cellular vehicle-to-everything and dedicated short range communication. Proceedings of the 2017 IEEE Vehicular Networking Conference (VNC), Torino, Italy.","DOI":"10.1109\/VNC.2017.8275618"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1109\/MVT.2017.2752798","article-title":"LTE-V for Sidelink 5G V2X Vehicular Communications: A New 5G Technology for Short-Range Vehicle-to-Everything Communications","volume":"12","author":"Gozalvez","year":"2017","journal-title":"IEEE Veh. Technol. Mag."},{"key":"ref_22","unstructured":"(2018, May 11). 3GPP TR 22.186 V15.2.0, Technical Specification Group Services and System Aspects. Enhancement of 3GPP Support for V2X Scenarios, Release 15, 2017. Available online: https:\/\/portal.3gpp.org\/desktopmodules\/Specifications\/SpecificationDetails.aspx?specificationId=3180."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Peng, H., Li, D., Ye, Q., Abboud, K., Zhao, H., Zhuang, W., and Shen, X.S. (2017, January 21\u201325). Resource allocation for D2D-enabled inter-vehicle communications in multiplatoons. Proceedings of the 2017 IEEE International Conference on Communications (ICC), Paris, France.","DOI":"10.1109\/ICC.2017.7996594"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1109\/MVT.2016.2632418","article-title":"Better Platooning Control Toward Autonomous Driving: An LTE Device-to-Device Communications Strategy That Meets Ultralow Latency Requirements","volume":"12","author":"Campolo","year":"2017","journal-title":"IEEE Veh. Technol. Mag."},{"key":"ref_25","unstructured":"(2018, May 11). 3GPP TS 36.331, v 14.4.0, Technical Specification Group Radio Access Network; Evolved Universal Terrestrial Radio Access (E-UTRA, Radio Resource Control (RRC), Protocol specification.), Release 14, 2017. Available online: https:\/\/portal.3gpp.org\/desktopmodules\/Specifications\/SpecificationDetails.aspx?specificationId=2440."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Obaidat, M.S., \u00d6ren, T., Kacprzyk, J., and Filipe, J. (2016). Simulating LTE\/LTE-Advanced Networks with SimuLTE. Simulation and Modeling Methodologies, Technologies and Applications, Springer.","DOI":"10.1007\/978-3-319-31295-8"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Varga, A., and Hornig, R. (2008, January 3\u20137). An overview of the OMNeT++ simulation environment. Proceedings of the 1st International Conference on Simulation Tools and Techniques for Communications, Networks and Systems & Workshops, Marseille, France.","DOI":"10.4108\/ICST.SIMUTOOLS2008.3027"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"263","DOI":"10.1109\/COMST.2015.2410831","article-title":"A survey on platoon-based vehicular cyber-physical systems","volume":"18","author":"Jia","year":"2016","journal-title":"IEEE Commun. Surv. Tutor."},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Rajamani, R. (2011). Vehicle Dynamics and Control, Springer Science & Business Media.","DOI":"10.1007\/978-1-4614-1433-9"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"685","DOI":"10.1109\/LWC.2015.2482977","article-title":"Performance analysis of V2V beaconing using LTE in direct mode with full duplex radios","volume":"4","author":"Bazzi","year":"2015","journal-title":"IEEE Wirel. Commun. Lett."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"787","DOI":"10.1007\/s11276-016-1193-3","article-title":"Resource allocation for network-controlled device-to-device communications in LTE-Advanced","volume":"23","author":"Nardini","year":"2017","journal-title":"Wirel. Netw."},{"key":"ref_32","first-page":"110","article-title":"Platoon management with cooperative adaptive cruise control enabled by VANET","volume":"2","author":"Amoozadeh","year":"2015","journal-title":"Veh. Commun."},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Nardini, G., Stea, G., and Virdis, A. (2017). A Fast and Reliable Broadcast Service for LTE-Advanced Exploiting Multihop Device-to-Device Transmissions. Future Int., 9.","DOI":"10.3390\/fi9040089"},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"77","DOI":"10.1016\/j.comnet.2017.12.006","article-title":"A scalable data-plane architecture for one-to-one device-to-device communications in LTE-Advanced","volume":"131","author":"Nardini","year":"2018","journal-title":"Comput. Netw."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"323","DOI":"10.1109\/TVT.2010.2094632","article-title":"Path loss modeling for vehicle-to-vehicle communications","volume":"60","author":"Karedal","year":"2011","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Ganesan, K., Soni, T., Nunna, S., and Ali, A.R. (2016, January 8\u201310). Poster: A TDM approach for latency reduction of ultra-reliable low-latency data in 5G. Proceedings of the 2016 IEEE Vehicular Networking Conference (VNC), Columbus, OH, USA.","DOI":"10.1109\/VNC.2016.7835946"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"15800","DOI":"10.1109\/ACCESS.2017.2731777","article-title":"Latency of Cellular-Based V2X: Perspectives on TTI-Proportional Latency and TTI-Independent Latency","volume":"5","author":"Lee","year":"2017","journal-title":"IEEE Access"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/5\/1527\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,6,10]],"date-time":"2024-06-10T21:36:14Z","timestamp":1718055374000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/5\/1527"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,5,11]]},"references-count":37,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2018,5]]}},"alternative-id":["s18051527"],"URL":"https:\/\/doi.org\/10.3390\/s18051527","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2018,5,11]]}}}