# Emerging Decision-Making for Transportation Safety: Collaborative Agent Performance Analysis
## 1 Introduction
The vehicle must also consider the rules of the road, such as speed limits, one-way systems, and other laws that can vary depending on where/when the vehicle is operating. The sensors for an AV will include those used for traditional piloted vehicles (e.g., vehicle odometry sensors) as well as new sensors to replace the IA that traditionally drives--a human. AVs use three basic sensors for environment perception: cameras, Lidar, and radar. These sensors are divided into three groups depending on the sensor range--short, medium, and long--and a combination of these types of sensors are required to enable an AV to effectively perceive its environment [21]. Actuators are used to convert electrical command signals from computers (i.e., the brain) into a force that enables control of the vehicle. Actuators are commonly grouped by energy source and common actuators in traditional vehicles include fuel injectors, spark plugs, and those found in anti-lock braking systems (ABSs). Many modern vehicles operate at SAE Level 2, where actuators aid a human driver by providing steering and braking input for smoother driving and in emergency situations. Another key enabler for the AV is the evolution of wireless communications technology. In the last 20 years, 2G technology that supported voice and text communications with speeds of (0.006 Mb/s) has evolved to low latency and responsive (>1000 Mb/s) 5G communications suitable for 4K video streaming, smart homes, and supporting the Internet of Things (IoT) [22]. 5G communications will be essential for supporting communication between AVs (V2V), as well as communication between vehicles and the'smart city' Intelligent Transport System infrastructure (V2I), as shown in Figure 2. In addition to wide-area network communications, developments have been made in safety and mobility related communications technology [23]. Such communication could be used by an AV if it cannot accurately or reliably perceive its environment due to a sensor fault or operating conditions (e.g., due to severe weather), with the communications acting in lieu of sensors to ensure the vehicle can operate intelligently [24]. In contrast to conventional control methods such as static feedback control, model predictive control, and hierarchical control, ABM offers unique advantages in capturing emergent behaviours, adapting to heterogeneous agent interactions, and simulating dynamic environments. This paper explores these distinctions in depth, underscoring ABM's ability to handle complex multi-agent scenarios more effectively than traditional methods. These methods are summarized in Table 1.  
For split-second, safety critical decision-making and acting, V2V communications must have low latency and be reliable. Dedicated Short-Range Communications (DSRC) is a communications service operating at 5.9 GHz that enables short-to-medium-range (1000 m) V2V and V2I communications with very high data transfer rates. Communications protocols must enable secure, private, multi-propagation communication and this is currently a key topic for designers of AVs. Currently, an evolution of the IEEE 802.11p (IEEE 1609) is the foundation of the European standard for vehicle communication (ETSI ITS-G5) [25].