1. 1.1.1.

        “Warning system for pedestrians without RSU for detection or traffic lights”


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Figure 1: Sequence diagram name

The ego vehicle can be warned by another OBU that there is a VRU detected. This can be a VRU that is outside the detection area of the ego vehicle. Based on the trajectory of VRU and its own trajectory the OBU decides if it is usefull to warn the driver. I the driver does not react to the warning the safety protocol is activated.



 

      1. 1.1.2.

        “Warning system for pedestrians with RSU for VRU detection”


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The RSU combines the detection of the VRUs with the trajectory information that it receives from the vehicles. If there is a conflict the RSU sends a message to the OBJ. The DENM message is a DSRC broadcasted message that is received by all OBJ in the neighborhood. The OBJ calculates if the DENM is relevant for him. If so he informs the driver via the HMI. If no reaction from the driver is detected the safety protocol is activated.

      1. 1.1.3.

        “Warning system for pedestrians Signaled crossing without RSU for VRU detection”

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The OBU takes into account the status of the traffic lights

      1. 1.1.4.

        “Warning system for pedestrians Signaled crossing with RSU for VRU detection”

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The RSU uses the information from the TLC and the OBU to decide if it is useful to inform the OBU about a detected VRU. The OBU than operates as in the previous sequence diagrams.

 

      1. 1.1.5.

        “Warning system for pedestrians Signaled crossing with RSU for VRU detection with cellular communication to the OBU”

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