# Evaluating V2X-Based Vehicle Control under Unreliable Network Conditions, Focusing on Safety Risk
## 5 Conclusions  
In conclusion, we have identified several observations derived from the simulation and the results. Due to the inherent nature of the concept introduced, we can observe an inverse proportionality between the PDR and SRI values, which indicates that as the network begins to degrade and received packets begin to drop, the risk indicator will increase. Furthermore, we have demonstrated that our suggested control concept could provide a valuable foundation for future developments, as it can consider the severity of the situation within a degraded network. Despite the proposed control being safer and \begin{table}
\begin{tabular}{c c c c c} \hline
**Scenario** & **Modulations** & **Constant 10 dB Noise** & **400 m Radius with 10 dB Peak Noise** & **400 m Radius with 20 dB Peak Noise** \\ \hline \multirow{4}{*}{Low relative velocity without SRI} & 1/2 QPSK & 1.99 & 2.02 & 2.02 \\  & 3/4 QPSK & 2.01 & 2.02 & 2.03 \\  & 2/3 64 QAM & 2.63 & 2.03 & 2.23 \\  & 3/4 64 QAM & 2.64 & 2.05 & 2.27 \\ \hline \multirow{4}{*}{Moderate relative velocity without SRI} & 1/2 QPSK & 1.84 & 1.85 & 1.85 \\  & 3/4 QPSK & 1.83 & 1.85 & 1.85 \\  & 2/3 64 QAM & 2.12 & 1.85 & 1.95 \\  & 3/4 64 QAM & 2.11 & 2.20 & 1.36 \\ \hline \multirow{4}{*}{High relative velocity without SRI} & 1/2 QPSK & 0.91 & 0.98 & 0.98 \\  & 3/4 QPSK & 0.91 & 0.98 & 0.98 \\  & 2/3 64 QAM & 0.88 & 0.92 & 0.91 \\  & 3/4 64 QAM & 0.88 & 0.92 & 0.91 \\ \hline \multirow{4}{*}{Low relative velocity with SRI} & 1/2 QPSK & 2.02 & 2.02 & 2.03 \\  & 3/4 QPSK & 2.26 & 2.02 & 2.63 \\  & 2/3 64 QAM & 7.46 & 18.53 & 7.26 \\  & 3/4 64 QAM & 7.77 & 14.91 & 6.80 \\ \hline \multirow{4}{*}{Moderate relative velocity with SRI} & 1/2 QPSK & 1.93 & 1.84 & 1.84 \\  & 3/4 QPSK & 3.19 & 1.84 & 1.84 \\  & 2/3 64 QAM & 2.34 & 14.24 & 8.65 \\  & 3/4 64 QAM & 2.33 & 8.50 & 8.67 \\ \hline \multirow{4}{*}{High relative velocity with SRI} & 1/2 QPSK & 3.58 & 3.66 & 3.66 \\  & 3/4 QPSK & 3.59 & 3.66 & 3.66 \\ \cline{1-1}  & 2/3 64 QAM & 0.84 & 3.34 & 3.58 \\ \cline{1-1}  & 3/4 64 QAM & 0.83 & 3.10 & 3.59 \\ \hline \end{tabular}
\end{table} 
Table 4: Safety performance (SP) evaluation of CACC. not resulting in a collision in any of our scenarios, it was overly cautious when the relative velocities were low or medium. Moreover, when the communication network is down or very weak for an extended period, the controller must indicate this and return the control to the driver. Therefore, further development and calibration are necessary in future research to create an all-around solution. In summary, we developed a simulation environment to simulate a V2X communication physical layer and to examine the impact of additional noise on network performance. For DSRC, we separated four different modulation types to enable the examination of the different modulations in a degraded network. Furthermore, we proposed a control concept and demonstrated that the improvement direction could be beneficial, although further developments and adjustments are required. It can be concluded that the proposed control mechanism is capable of warning the driver when the circumstances are worsening. For future research, it would be beneficial to investigate this proposed model in greater depth. One possible avenue for further research would be to extend the simulation environment to enable the simulation of communication latency. This could lead to the development of a more complex and effective solution for the autonomous driving industry. Conceptualization, Z.P. and A.T.; Methodology, Z.P., A.T. and R.N. ; Software, R.N. ; Validation, Z.P., A.T. and R.N. ; Formal Analysis, Z.P., A.T. and R.N. ; Investigation, Z.P., A.T. and R.N. ; Resources, Z.P., A.T. and R.N. ; Writing--Original Draft Preparation, R.N. ; Writing--Review and Editing, A.T.; Visualization, R.N. ; Supervision, Z.P. and A.T.; Project Administration, Z.P. and A.T.; Funding Acquisition, Z.P., A.T. and R.N. All authors have read and agreed to the published version of the manuscript.