## 5 V2X Technology in the Context of SAE Levels of Autonomy
### V2X Aided Use Cases of Automated Driving
Mixed platoons consisting of cooperative autonomous vehicles and human-driven vehicles have been explored, utilizing constrained Model Predictive Control (MPC) models to ensure smooth and stable traffic flow [49]. In LoA 3+ automated driving, controlled intersections play a crucial role in regulating vehicle movements, either through signal phases or basic traffic rules. Modern V2X-aided regulations aim to manage conflicts between vehicles entering from different directions. Fatal crashes, especially at uncontrolled intersections, account for a significant portion of overall traffic fatalities. While traditional approaches focus on signal logic design and intersection canalization to enhance efficiency, in the past years, Cooperative Intersection Control (CIC) has emerged as a promising method to improve safety, including signalized and non-signalized intersections, major CIC maneuvers, and the algorithms used for these maneuvers [50]. Virtual Traffic Lights (VTL) can replace traditional traffic lights by utilizing V2X communication. VTLs have been subject to recent studies, and experiments have shown successful coordination among vehicles [51]. Optimization algorithms, such as mixed-integer programming and advanced learning-based techniques like machine learning and reinforcement learning, are commonly used in CIC algorithms. However, in current commercially available car models, V2X functionalities are limited to Level 0 warning signals to the driver. In 2019, the Car2X technology in the new Volkswagen Golf, for example, was rolled out to customers, which was marked as a major technological advancement within the V2X community, a concept shown in Figure 2[52]. Car2X, a communication system enabling vehicle-to-vehicle and vehicle-to-infrastructure interactions in these models to facilitate real-time information exchange for improved road safety and enhanced traffic efficiency in these models. The Car2X system in the vehicle utilizes WLANp (Wireless Local Area Network for Public Transport) technology. This allows advanced warning capabilities that enable drivers to receive real-time information regarding accidents, roadworks, and emergency vehicles, empowering them to take appropriate actions well in advance. Car2X technology contributes to improved traffic flow and reduced congestion as well. The Volkswagen Golf equipped with Car2X can provide drivers with real-time data about traffic conditions and offer alternative routes, enabling them to avoid congested areas and optimize their travel time. Vulnerable Road User (VRU) protection has also gained attention lately. Autotalks, in collaboration with Volkswagen, Bosch eBike Systems and Commsignia, are set to showcase the capabilities of V2X communication in preventing bike-vehicle collisions. The demonstration, taking place at the SECUR Final Event near Paris, focuses on an obstructed intersection scenario where a car or eBike's vision is blocked. Using Autotalks' V2X technology integrated by Bosch eBike Systems and Commsignia software, a V2X-enabled bicycle will communicate with a VW vehicle to alert it on its presence, mitigating potential crashes at the intersection. This collaboration aims to enhance cyclists' safety and improve the integration of eBikes into future V2X communication. The SECUR project, an industrial consortium focused on V2X testing and assessment protocols for Euro NCAP, supports this initiative to leverage V2X technology for the safety of vulnerable road users, promoting cyclists' confidence and protection at intersections.