V2X Intention Sharing for Cooperative Electrically Power-Assisted Cycles

TL;DR

This paper presents a compact, efficient intention-sharing mechanism for electrically power-assisted cycles in V2X systems, improving communication reliability and safety through a novel elliptical trajectory encoding method.

Contribution

It introduces a new intention-sharing approach using elliptical geographical areas and quadratic polynomial fitting, enabling scalable, high-frequency V2X communication for EPACs.

Findings

Superior inter-packet gap performance in simulations

Feasibility demonstrated through real-time embedded system experiments

Supports scalable, low-latency intention sharing for safety enhancement

Abstract

This paper introduces a novel intention-sharing mechanism for Electrically Power-Assisted Cycles (EPACs) within V2X communication frameworks, enhancing the ETSI VRU Awareness Message (VAM) protocol. The method replaces discrete predicted trajectory points with a compact elliptical geographical area representation derived via quadratic polynomial fitting and Least Squares Method (LSM). This approach encodes trajectory predictions with fixed-size data payloads, independent of the number of forecasted points, enabling higher-frequency transmissions and improved network reliability. Simulation results demonstrate superior inter-packet gap (IPG) performance compared to standard ETSI VAMs, particularly under constrained communication conditions. A physical experiment validates the feasibility of real-time deployment on embedded systems. The method supports scalable, low-latency intention sharing, contributing to cooperative perception and enhanced safety for vulnerable road users in connected and automated mobility ecosystems. Finally, we discuss the viability of LSM and open the door to other methods for prediction.