# Performance Evaluation of Cooperative Driving Automation Services Enabled by Edge Roadside Units

## TL;DR

This paper evaluates how edge roadside units improve cooperative driving automation by sharing sensor data and optimizing vehicle maneuvers in complex traffic scenarios.

## Contribution

The paper introduces a guidance-driven Hybrid Pairing Optimization scheme for edge RSU-enabled cooperative driving automation.

## Key findings

- Sensor sharing via edge RSUs reduces collision risk in highway merging scenarios.
- Hybrid Pairing Optimization improves average speed by up to 192% and traffic throughput by up to 209% compared to FCFS policies.
- Edge RSU services enable safe concurrent passage at intersections and roundabouts.

## Abstract

Research on Cooperative Driving Automation (CDA) has advanced to overcome the limited perception range of onboard sensors and the difficulty of inferring surrounding vehicles’ intentions by leveraging vehicle-to-everything (V2X) communications. This paper models how an autonomous vehicle receives cooperative sensing and cooperative maneuvering information generated at an edge roadside unit (edge RSU) that integrates roadside units (RSUs) with multi-access edge computing (MEC), and how the vehicle fuses this information with its onboard situational awareness and path-planning modules. We then analyze the performance gains of edge RSU-enabled services across diverse traffic environments. In a highway-merging scenario, simulations show that employing the edge RSU’s sensor sharing service (SSS) reduces collision risk relative to onboard-only baselines. For unsignalized intersections and roundabouts, we further propose a guidance-driven Hybrid Pairing Optimization (HPO) scheme in which the edge RSU aggregates CAV intents/trajectories, resolves spatiotemporal conflicts via lightweight pairing and time window allocation, and broadcasts maneuver guidance through MSCM. Unlike a first-come, first-served (FCFS) policy that serializes passage, HPO injects edge guidance as soft constraints while preserving arrival order fairness, enabling safe concurrent passage opportunities when feasible. Across intersections and roundabouts, HPO improves average speed by up to 192% and traffic throughput by up to 209% compared with FCFS under identical demand in our simulations.