Cooperative awareness on the road is intended to support the road users by providing knowledge about the surroundings and relies on the information exchange enabled by vehicular communications. To achieve this goal the European telecommunication standard institute (ETSI) delivered the standard EN 302 637-2 for cooperative awareness messages (CAM). The CAM triggering conditions are based on the kinematics of the originating vehicle, which is checked periodically. In this paper, we show that the standardized ETSI protocol may suffer a decrease in communication performance under several realistic mobility patterns. The potential influence of the discovered phenomena on the IEEE 802.11p medium access control operation is studied.

Accurate positioning is a requirement for many applications, including safety-critical autonomous vehicles. To reduce cost and at the same time improving accuracy for positioning of autonomous vehicles, new methods, tools, and research platforms are needed. We have created a low-cost testbed consisting of electronics and software that can be fitted on model vehicles allowing them to follow trajectories autonomously with a position accuracy of around 3 cm outdoors. The position of the vehicles is derived from sensor fusion between Real-Time Kinematic Satellite Navigation (RTK-SN), odometry, and inertial measurement and performs well within a 10 km radius from a base station. Trajectories to be followed can be edited with a custom GUI, where also several model vehicles can be controlled and visualized in real time. All software and Printed Circuit Boards (PCBs) for our testbed are available as open source to make customization and development possible. Our testbed can be used for research within autonomous driving, for carrying test equipment, and other applications where low cost and accurate positioning and navigation are required.

The Internet of Things (IoT) can be defined as the network of physical objects, or "things," embedded with sensors and software for processing and exchanging data with other devices and ecosystems using the Internet as a medium. With its rapid growth over the past decade, it has permeated several application domains, including intelligent vehicular systems. The Internet of Autonomous Vehicles (IoAV) is a subset of IoT that envisions dynamic autonomous driving without human intervention. The dynamic nature of the environment in which autonomous vehicles operate introduces significant challenges, such as real-time communication and security vulnerabilities. These challenges cannot be directly addressed by standard cybersecurity solutions designed primarily for static IoT environments. In this work, we outline the various vulnerabilities of the IoAV systems, and we delve into the critical importance of adopting lightweight security protocols. These protocols are crucial to ensure robust protection while at the same time not jeopardizing the performance of the IoAV system. We also highlight the fast lightweight security protocols implemented on heterogeneous embedded, low-power, high-performance computing platforms as a viable solution to address these challenges.

In this paper, we compare a method for selecting transmission antenna based on road curvature to a method based on periodically alternating between left and right hand side transmission antennas. Both methods aim to improve the success rate for communication between participants in a platoon of vehicles. Moreover, we propose the data age metric for online use as input to the algorithm controlling the inter-vehicle distance in platooning, e.g. to decide appropriate gap between the vehicles depending on the V2V communication quality. The methods have been evaluated through V2V communication measurements performed using heavy duty vehicles on public highway. We show that, when using the curvature-based method, a 150 ms data age deadline is only missed approximately half as often compared to when periodically alternating between left and right hand side transmission antennas. The methods have also been compared for different antenna combinations.