# Road Infrastructure Challenges Faced by Automated Driving: A Review
## 4 Identification of Challenges
### Digitalisation  
Digitalisation of infrastructure is represented by V2I and V2N communication and digital maps. Many limitations that are present when onboard perception is used can be solved with digitalisation. Digitalisation supports AV with information outside FOV and under harsh environmental conditions. Moreover, it represents a redundant system that increases the reliability of ADAS. The questions that could be asked to address challenges are:  
* What are the requirements for digitalisation? * Is modern technology for digitalisation standardised? * What influences the penetration and acceptance of modern technology? * Is security advanced enough to resist cyber-attacks? * What are the responsibilities and opportunities related to large data collection? To support AV, especially higher automation levels, it is important to ensure real-time information and transfer of a large amount of data with low latency. Moreover, this large amount of data should be analysed and sent from vehicle to infrastructure and vice versa. Therefore, it is necessary to implement technology with such capability. Currently, high power computing and 5G network show promising results as they can handle the required data rate of 2.2 Gbit/s and latency of 10 ms [48; 50; 84]. However, those requirements are for safety-critical applications. Some applications do not require that level of performance, such as automated valet parking, where latency can be significantly higher, and the range that needs to be covered is approximately 50 to 100 m, so only a moderate vehicle density of, e.g., 50 users is requested. Such a requirement-based approach is used by 5 GAA, in which they define ADS use cases and categorise them as safety-related, vehicle operation management, autonomous driving, platooning, traffic efficiency and more [85; 86]. Therefore, one of the challenges of digitalisation is to precisely define requirements and correctly address technologies that may handle them. An example of a complication that could arise is overloading of a certain frequency band, e.g., 5.9 GHz for short-range communication, and a requirements-based approach could support strategies for prioritisation of certain functions. Overloading implies the importance of integration of different technologies in which the definition of data types and standardisation would play an important role. However, huge efforts have already been invested in standardisation, and it is an open topic managed by organisations such as European Telecommunications Standards Institute (ETSI), SAE and the European Standardisation Committee, among others. Moreover, integration of communication and computing of AI algorithms and switching from vehicle computing to cloud computing to gain the most out of collected data is another advance \begin{table}
\begin{tabular}{c c} \hline \hline \multicolumn{2}{c}{**Standard Road Markings**} \\ \hline \(\bullet\) & Using profiled or agglomerate markings to raise profiles with retroreflective materials in order to reduce flooding and promote water drainage [68]. \\ \(\bullet\) & Implementation of all-weather marking that uses high-quality optics to provide a high level of visibility under diverse weather and visibility conditions [69]. \\ \hline \hline \multicolumn{2}{c}{**Smart Markings**} \\ \hline \(\bullet\) & Incorporating the micro/nano sensory system into road markings to support V2I. This is the approach presented in the Safe Strip Project [70]. \\ \hline \hline \end{tabular}
\end{table} 
Table 8: Advances in lane detection. that is gaining increasing attention and, once again, posing challenges regarding the standardisation and technical requirements of digitalisation [48, 87]. However, the efficiency of cooperative driving and smart road infrastructure is highly dependent on the number of vehicles equipped with such technology, e.g., to make the most of traffic flow and energy efficiency through smart intersections and traffic lights, and the vast amount of data that needs to be collected is only possible if many cars already have such systems.