Beyond Line-of-Sight: V2X-Enabled Occlusion-Aware Lane Change Decisions

초록

Lane change maneuvers at urban intersections present significant safety challenges due to visual occlusions caused by buildings, infrastructure, and other vehicles. Traditional Advanced Driver Assistance Systems (ADAS) rely solely on onboard sensors with limited line-of-sight perception, making it difficult to detect vehicles in adjacent lanes when approaching intersections. This paper addresses this critical safety gap by proposing a Vehicle-to-Everything (V2X) communication framework that extends a vehicle's perception beyond physical occlusion barriers. We formalize the occluded lane change problem, identify the necessary V2X message requirements, and present a conceptual decision-making framework. By leveraging Cooperative Awareness Messages (CAM) and Collective Perception Messages (CPM) from the ETSI ITS-G5 standard, vehicles can obtain real-time information about occluded traffic, enabling safer lane change decisions in urban environments.