Search

Unmanned aerial vehicle (UAV)-enabled vehicular communications in the sixth generation (6G) are characterized by line-of-sight (LoS) and dynamically varying channel conditions. However, the presence of obstacles in the LoS path leads to shadowed fading environments. In UAV-assisted cellular vehicle-to-everything (C-V2X) communication, vehicle and UAV mobility and shadowing adversely impact latency and throughput. Moreover, 6G vehicular communications comprise data-intensive applications such as augmented reality, mixed reality, virtual reality, intelligent transportation, and autonomous vehicles. Since vehicles' sensors generate immense amount of data, the latency in processing these applications also increases, particularly when the data are not independently identically distributed (non-i.i.d.). Furthermore, when the sensors' data are heterogeneous in size and distribution, the incoming packets demand substantial computing resources, energy efficiency at the UAV servers and intelligent mechanisms to queue the incoming packets. Due to the limited battery power and coverage range of UAV, the quality of service (QoS) requirements such as coverage rate, UAV flying time, and fairness of vehicle selection are adversely impacted. Controlling the UAV trajectory so that it serves a maximum number of vehicles while maximizing battery power usage is a potential solution to enhance QoS. This paper investigates the system performance and communication disruption between vehicles and UAV due to Doppler effect in the orthogonal time–frequency space (OTFS) modulated channel. Moreover, a low-complexity UAV trajectory prediction and vehicle selection method is proposed using federated learning, which exploits related information from past trajectories. The weighted total energy consumption of a UAV is minimized by jointly optimizing the transmission window ( L w ), transmit power and UAV trajectory considering Doppler spread. The simulation results reveal that the weighted total energy consumption of the OTFS-based system decreases up to 10% when combined with federated learning to locally process the sensor data at the vehicles and communicate the processed local models to the UAV. The weighted total energy consumption of the proposed federated learning algorithm decreases by 10–15% compared with convex optimization, heuristic, and meta-heuristic algorithms. [ABSTRACT FROM AUTHOR]

With the development of Internet of Vehicles (IoV) technology, the need for real-time data processing and communication in vehicles is increasing. Traditional request-based methods face challenges in terms of latency and bandwidth limitations. Mode 4 in cellular vehicle-to-everything (C-V2X), also known as autonomous resource selection, aims to address latency and overhead issues by dynamically selecting communication resources based on real-time conditions. However, semi-persistent scheduling (SPS), which relies on distributed sensing, may lead to a high number of collisions due to the lack of centralized coordination in resource allocation. On the other hand, non-orthogonal multiple access (NOMA) can alleviate the problem of reduced packet reception probability due to collisions. Age of Information (AoI) includes the time a message spends in both local waiting and transmission processes and thus is a comprehensive metric for reliability and latency performance. To address these issues, in C-V2X, the waiting process can be extended to the queuing process, influenced by packet generation rate and resource reservation interval (RRI), while the transmission process is mainly affected by transmission delay and success rate. In fact, a smaller selection window (SW) limits the number of available resources for vehicles, resulting in higher collisions when the number of vehicles is increasing rapidly. SW is generally equal to RRI, which not only affects the AoI part in the queuing process but also the AoI part in the transmission process. Therefore, this paper proposes an AoI estimation method based on multi-priority data type queues and considers the influence of NOMA on the AoI generated in both processes in C-V2X system under different RRI conditions. Our experiments show that using multiple priority queues can reduce the AoI of urgent messages in the queue, thereby providing better service about the urgent message in the whole vehicular network. Additionally, applying NOMA can further reduce the AoI of the messages received by the vehicle. [ABSTRACT FROM AUTHOR]

Environment perception plays a crucial role in enabling collaborative driving automation, which is considered to be the ground-breaking solution to tackling the safety, mobility, and sustainability challenges of contemporary transportation systems. Despite the fact that computer vision for object perception is undergoing an extraordinary evolution, single-vehicle systems' constrained receptive fields and inherent physical occlusion make it difficult for state-of-the-art perception techniques to cope with complex real-world traffic settings. Collaborative perception (CP) based on various geographically separated perception nodes was developed to break the perception bottleneck for driving automation. CP leverages vehicle-to-vehicle and vehicle-to-infrastructure communication to enable vehicles and infrastructure to combine and share information to comprehend the surrounding environment beyond the line of sight and field of view to enhance perception accuracy, lower latency, and remove perception blind spots. In this article, we highlight the need for an evolved version of the collaborative perception that should address the challenges hindering the realization of level 5 AD use cases by comprehensively studying the transition from classical perception to collaborative perception. In particular, we discuss and review perception creation at two different levels: vehicle and infrastructure. Furthermore, we also study the communication technologies and three different collaborative perception message-sharing models, their comparison analyzing the trade-off between the accuracy of the transmitted data and the communication bandwidth used for data transmission, and the challenges therein. Finally, we discuss a range of crucial challenges and future directions of collaborative perception that need to be addressed before a higher level of autonomy hits the roads. [ABSTRACT FROM AUTHOR]

Developing radio access technologies that enable reliable and low-latency vehicular communications have become of the utmost importance with the rise of interest in autonomous vehicles. The Third Generation Partnership Project (3GPP) has developed Vehicle to Everything (V2X) specifications based on the 5G New Radio Air Interface (NR-V2X) to support connected and automated driving use cases, with strict requirements to fulfill the constantly evolving vehicular applications, communication, and service demands of connected vehicles, such as ultra-low latency and ultra-high reliability. This paper presents an analytical model for evaluating the performance of NR-V2X communications, with particular reference to the sensing-based semi-persistent scheduling operation defined in the NR-V2X Mode 2, in comparison with legacy sidelink V2X over LTE, specified as LTE-V2X Mode 4. We consider a vehicle platooning scenario and evaluate the impact of multiple access interference on the packet success probability, by varying the available resources, the number of interfering vehicles, and their relative positions. The average packet success probability is determined analytically for LTE-V2X and NR-V2X, taking into account the different physical layer specifications, and the Moment Matching Approximation (MMA) is used to approximate the statistics of the signal-to-interference-plus-noise ratio (SINR) under the assumption of a Nakagami-lognormal composite channel model. The analytical approximation is validated against extensive Matlab simulations that a show good accuracy. The results confirm a boost in performance with NR-V2X against LTE-V2X, particularly for high inter-vehicle distance and a large number of vehicles, providing a concise yet accurate modeling rationale for planning and adaptation of the configuration and parameter setup of vehicle platoons, without having to resort to extensive computer simulation or experimental measurements. [ABSTRACT FROM AUTHOR]

Cellular vehicle-to-everything (C-V2X) is a communication technology that supports various safety, mobility, and environmental applications, given its higher reliability properties compared to other communication technologies. The performance of these C-V2X-enabled intelligent transportation system (ITS) applications is affected by the performance of the C-V2X communication technology (mainly packet loss). Similarly, the performance of the C-V2X communication is dependent on the vehicular traffic density which is affected by the traffic mobility patterns and vehicle routing strategies. Consequently, it is critical to develop a tool that can simulate, analyze, and evaluate the mutual interactions of the transportation and communication systems at the application level to quantify the benefits of C-V2X-enabled ITS applications realistically. In this paper, we demonstrate the benefits gained when using C-V2X Vehicle-to-Infrastructure (V2I) communication technology in an energy-efficient dynamic routing application. Specifically, we develop a Connected Energy-Efficient Dynamic Routing (C-EEDR) application using C-V2X as a communication medium in an integrated vehicular traffic and communication simulator (INTEGRATION). The results demonstrate that the C-EEDR application achieves fuel savings of up to 16.6% and 14.7% in the IDEAL and C-V2X communication cases, respectively, for a peak hour demand on the downtown Los Angeles network considering a 50% level of market penetration of connected vehicles. The results demonstrate that the fuel savings increase with increasing levels of market penetration at lower traffic demand levels (25% and 50% the peak demand). At higher traffic demand levels (75% and 100%), the fuel savings increase with increasing levels of market penetration with maximum benefits at a 50% market penetration rate. Although the communication system is affected by the high density of vehicles at the high traffic demand levels (75% and 100% the peak demand), the C-EEDR application manages to perform reliably, producing system-wide fuel consumption savings.The C-EEDR application achieves fuel savings of 15.2% and 11.7% for the IDEAL communication and 14% and 9% for the C-V2X communication at the 75% and 100% market penetration rates, respectively. Finally, the paper demonstrates that the C-V2X communication constraints only affect the performance of the C-EEDR application at the full demand level when the market penetration of the connected vehicles exceeds 25%. This degradation, however, is minimal (less than a 2.5% reduction in fuel savings). [ABSTRACT FROM AUTHOR]

With an increasing number of vehicles, there is a need for reliable and secure communication between subjects participating in the dynamic traffic environment. This kind of communication is called V2X (Vehicle-to-Everything). It can also contribute to higher level of autonomous driving. The V2X model operation is enabled by use of the newest technologies and standards, defined by 3GPP Organization. In this paper, a review of the V2X communication models, available technologies and standards are studied. [ABSTRACT FROM AUTHOR]

In the IoV system, the high speed movement of vehicle nodes and frequent changes in speed, direction and other states cause time-varying fading of the wireless channel in vehicular networks. To solve the problems of the currently used adaptive traffic beacons (ATB) prediction algorithm process with complex and many channel quality evaluation indicators, a new R-ATB prediction algorithm was proposed. The R-ATB algorithm was achieved by calculating the corresponding correlation time parameter of relevant time (RT) according to the Doppler shift degree of node motion. The package delivery rate (PDR) and the time delay parameters under the correlated channel prediction algorithm were analyzed and evaluated by setting the conditions and system modeling in OMNET++ universal network platform. The results show that compared with static beacons and traditional ATB algorithms, in the proposed R-ATB prediction algorithm, less amount of real-time evaluation metrics and smaller computation of the prediction process are used to reduce the communication channel congestion of IoV. The propagation timeliness of security beacons and the PDR of high-speed data transmission success rate are improved in typical high-density OBUs data interaction scenarios. [ABSTRACT FROM AUTHOR]

In this analysis, Cooperative Intelligent Transportation System relevant scenarios are created to investigate the need to differentiate Vehicle-to-X transmission technologies on behalf of accident analysis. For each scenario, the distances between the vehicles are calculated 5 s before the crash. Studies on the difference between Dedicated Short-Range Communication (IEEE 802.11p) and Cellular Vehicle-to-X communication (LTE-V2C PC5 Mode 4) are then used to assess whether both technologies have a reliable connection over the relevant distance. If this is the case, the transmission technology is of secondary importance for future investigations on Vehicle-to-X communication in combination with accident analysis. The results show that studies on freeways and rural roads can be carried out independently of the transmission technology and other boundary conditions (speed, traffic density, non-line of sight/line of sight). The situation is different for studies in urban areas, where both technologies may not have a sufficiently reliable connection range depending on the traffic density. [ABSTRACT FROM AUTHOR]

An 11.8-GHz low-power, low phase noise, 65-nm CMOS LC-VCO for V2X communication standards is presented in this work. To achieve low-phase noise performance to fulfill the 5G NR C-V2X standards, several adjustments are made to the conventional LC-VCO topologies. These adjustments are briefly explained in this work. Presented VCO consumes 3.046 mA current from a 1.2-V power supply. It has − 116.13 dBc/Hz phase noise at 1 MHz offset and tuning range between 11.64 GHz and 11.94 GHz. A frequency divider circuit is designed and implemented to the presented VCO to satisfy the frequency spectrum of V2X radio access technologies. To the best of authors' knowledge, this work is the first VCO implemented at 11.8 GHz in a 65-nm CMOS process with the reported phase noise number for 5G NR C-V2X applications. [ABSTRACT FROM AUTHOR]

Due to the gap between calculation-intensive and latency-sensitive features of self-driving tasks and the vehicle's limited computation and storage resources, the development of autonomous vehicles is situated in a bottleneck. Fortunately, multi-access edge computing (MEC) architecture offers a promising measure to bridge this gap. It brings resources proximity to mobile devices at the network edge to support task offloading. Nonetheless, it introduces the problem of insecure wireless communication. Beyond that, the autonomous vehicle also has strict requirements on latency and energy consumption of task offloading technique owing to its safety-related and electricity-driven characteristics. Many scholars have studied the related problems widely. Nevertheless, few papers combine these three significant factors, namely information security, task latency and energy consumption. Thus, we put forward a mobility-ware task offloading scheme in cellular vehicle-to-everything system, which carefully considers these three requirements together. In this scheme, a time approximation algorithm is proposed to tackle the channel condition variations caused by the vehicle movement. Small-cell base station proactively sends artificial noise to debase wiretapper decoding capability and further prevent data exchanged between vehicles and MEC from being eavesdropped at the physical layer. Moreover, the optimal offloading proportion is found to minimize the weighted sum of latency and energy consumption. Experimental performances validate the effectiveness and feasibility of the proposed task offloading scheme. [ABSTRACT FROM AUTHOR]

Cooperative intelligent transportation systems (C-ITSs) such as platooning rely on a robust and timely network that may not always be available in sufficient quality. Out of the box hybrid networks only partly eliminate shortcomings: mutual interference avoidance, data load balancing, and data dissemination must be sophisticated. Lacking network quality may lead to safety bottlenecks that require that the distance between the following vehicles be increased. However, increasing gaps result in efficiency loss and additionally compromise safety as the platoon is split into smaller parts by traffic: maneuvers, e.g., cut-in maneuvers bear safety risks, and consequently lower efficiency even further. However, platoons, especially if they are very long, can negatively affect the flow of traffic. This mainly applies on entry or exit lanes, on narrow lanes, or in intersection areas: automated and non-automated vehicles in traffic do affect each other and are interdependent. To account for varying network quality and enable the coexistence of non-automated and platooned traffic, we present in this paper a new concept of platooning that unites ad hoc—in form of IEEE 802.11p—and cellular communication: feudalistic platooning. Platooned vehicles are divided into smaller groups, inseparable by surrounding traffic, and are assigned roles that determine the communication flow between vehicles, other groups and platoons, and infrastructure. Critical vehicle data are redundantly sent while the ad hoc network is only used for this purpose. The remaining data are sent—relying on cellular infrastructure once it is available—directly between vehicles with or without the use of network involvement for scheduling. The presented approach was tested in simulations using Omnet++ and Simulation of Urban Mobility (SUMO). [ABSTRACT FROM AUTHOR]

In this article, a low‐profile dual‐band patch antenna for vehicle communication is proposed. With two sets of shorting vias on the hexagonal‐shaped patch at different positions and single feed at the center, three different resonant modes are excited, forming two operating bands with omnidirectional and conical beam radiation respectively. The omnidirectional radiation at 2.45 GHz is used for wireless local area network (WLAN) communication while the conical beam radiation is used for cellular vehicle‐to‐everything (C‐V2X) communication. The proposed antenna is fabricated using the printed circuit technique. Both the measured reflection coefficient and radiation pattern match well with the simulations. With the advantage of low profile, dual‐band, and dual radiation characteristics, the antenna owns a good potential to be used in vehicle communications. [ABSTRACT FROM AUTHOR]

The aim of this paper is to design an orthogonally integrated hybrid antenna to address 5G/Wi-Fi/C-V2X communication simultaneously in one device. The proposed antenna consists of three planar monopoles and a defected ground plane with a dimension of 55x30x1.2mm³. High Frequency Structure Simulator (HFSS) is employed to design the proposed antenna, which resonates at three distinct frequencies 2.45 GHz (Wi-Fi), 3.5 GHz (5G), and 5.9 GHz. Further, the prototype antenna is fabricated and experimentally validated in comparing with simulation results. The excellent agreement among the simulation and measured results shows that the designed antenna operates simultaneously at 5G/Wi-Fi/C-V2X frequency bands and the isolation effects between the elements is less than 15dB. [ABSTRACT FROM AUTHOR]

Connected and Automated Vehicles (CAVs) utilize a variety of onboard sensors to sense their surrounding environment. CAVs can improve their perception capabilities if vehicles exchange information about what they sense using V2X communications. This is known as cooperative or collective perception (or sensing). A frequent transmission of collective perception messages could improve the perception capabilities of CAVs. However, this improvement can be compromised if vehicles generate too many messages and saturate the communications channel. An important aspect is then when vehicles should generate the perception messages. ETSI has proposed the first set of message generation rules for collective perception. These rules define when vehicles should generate collective perception messages and what should be their content. We show that the current rules generate a high number of collective perception messages with information about a small number of detected objects. This results in an inefficient use of the communication channel that reduces the effectiveness of collective perception. We address this challenge and propose an improved algorithm that modifies the generation of collective perception messages. We demonstrate that the proposed solution improves the reliability of V2X communication and the perception of CAVs. [ABSTRACT FROM AUTHOR]

Vehicular communication is one of the critical technologies in intelligent transportation system to provide connectivity between vehicles, road side units, and pedestrians. Multiple wireless accessing technologies designed to provide connectivity in vehicular networks such as conventional Wi-Fi, IEEE 802.11p, and cellular communications. Recently, cellular V2X (C-V2X) is standardized and designed by the third generation partnership project (3GPP) for automotive services. C-V2X supports two communication modes through a single platform to provide both Wi-Fi and cellular communication. LTE-V2X is the current 3GPPRelease 14 standard that has many enhancements to provide the new 3GPPRelease 16 for the new 5G radio generation. 5G-new radio (NR) is expected to address the automotive capabilities, improvement, and services for 2020 and beyond. 5G-NR becomes a competitive technology compared with other wireless technologies because of extensive coverage, high capacity, high reliability, and low delay support. In this paper, we propose the Optimizing of 5G with V2X, and analyzing the current V2X standards, introducing the development of 5G, challenges, features, requirements, design, and technologies. [ABSTRACT FROM AUTHOR]

Most V2X (Vehicle-to-Everything) applications rely on broadcasting awareness messages known as CAM (Cooperative Awareness Messages) in ETSI or BSM (Basic Safety Message) in SAE standards. A large number of studies have been devoted to guarantee their reliable transmission. However, to date, the studies are generally based on simplified data traffic models that generate awareness messages at periodic intervals or with a constant message size. These models do not accurately represent the real generation of CAM messages that follow specific mobility-based rules. Using simplified and unrealistic traffic models can significantly impact the results and validity of the studies, and hence accurate models for the generation of awareness messages are necessary. This paper proposes the first set of models that can realistically generate CAM messages. The models have been created from real traces collected by two car manufacturers in urban, sub-urban and highway test drives. The models are based on mth order Markov sources, and model the size of CAMs and the time interval between CAMs. The models are openly provided to the community and can be easily integrated into any simulator. [ABSTRACT FROM AUTHOR]

To overcome the limitations of Dedicated Short Range Communications (DSRC) with short range, non-supportability of high density networks, unreliable broadcast services, signal congestion and connectivity disruptions, cellular vehicle-to-everything (C-V2X) communication networks, standardized in 3rd Generation Partnership Project (3GPP) Release 14, have been recently introduced to cover broader vehicular communication scenarios including vehicle-to-vehicle (V2V), vehicle-to-pedestrian (V2P) and vehicle-to-infrastructure/network (V2I/N). In C-V2X, vehicles can directly communicate over PC5 based dedicated sidelinks called direct mode or V2V communication. However, high vehicle densities may require reuse of cellular spectrum for V2V. Moreover, infrastructure mode communication through V2I/N links can augment V2V communication by enhancing communication range and reliability for enhanced safety along with consistent performance under traffic congestions. Motivated by the stringent connection reliability, spectral efficiency, and coverage requirements in C-V2X, this paper presents the first comprehensive and tractable analytical framework for performance of C-V2X networks over shared V2V and cellular uplink channels, where the transmitting vehicles can deliver their information via infrastructure or direct mode, based on their distances, propagation environments and the bias factor. By practically modeling the vehicles on the roads using the doubly stochastic Cox process and the base-stations, we derive new association probabilities, new success probabilities of infrastructure and direct mode, and overall success probability of the C-V2X communication over shared channels, which are validated by the simulations results. Our results reveal the benefits of our proposed model (possibility of selecting both direct and infrastructure modes over shared channels) compared to V2V network in terms of success probability. [ABSTRACT FROM AUTHOR]

Cellular vehicle-to-everything (C-V2X) networks can operate without cellular infrastructure support. Vehicles can autonomously select their radio resources using the sensing-based semi-persistent scheduling (SPS) algorithm specified by the Third Generation Partnership Project. The sensing nature of the SPS scheme makes C-V2X communications prone to the well-known hidden-terminal problem. To address this problem, this paper proposes a novel geo-based scheduling scheme that allows vehicles to autonomously select their radio resources based on the location and ordering of neighboring vehicles on the road. The proposed scheme results in an implicit resource selection coordination between vehicles (even with those outside the sensing range) that reduces packet collisions. This paper evaluates analytically and through simulations the proposed scheduling scheme. The obtained results demonstrate that it reduces packet collisions and significantly increases the C-V2X performance, compared to when using the sensing-based SPS scheme. [ABSTRACT FROM AUTHOR]

The C-V2X or LTE-V standard has been designed to support vehicle to everything (V2X) communications. The standard is an evolution of LTE, and it has been published by the 3GPP in Release 14. This new standard introduces the C-V2X or LTE-V Mode 4 that is specifically designed for V2V communications using the PC5 sidelink interface without any cellular infrastructure support. In Mode 4, vehicles autonomously select and manage their radio resources. Mode 4 is highly relevant since V2V safety applications cannot depend on the availability of infrastructure-based cellular coverage. This paper presents the first analytical models of the communication performance of C-V2X or LTE-V Mode 4. In particular, the paper presents analytical models for the average packet delivery ratio (PDR) as a function of the distance between transmitter and receiver, and for the four different types of transmission errors that can be encountered in C-V2X Mode 4. The models are validated for a wide range of transmission parameters and traffic densities. To this aim, this study compares the results obtained with the analytical models to those obtained with a C-V2X Mode 4 simulator implemented over Veins. [ABSTRACT FROM AUTHOR]

Accidents are continuously reported for autonomous driving vehicles including those with advanced sensors installed. Some of accidents are usually caused by bad weather, poor lighting conditions and non-line-of-sight obstacles. Cellular Vehicle-to-Everything (C-V2X) radio technology can significantly improve those weak spots for autonomous driving. This paper describes one of the C-V2X system solutions: Vulnerable Road User Collision Warning (VRUCW) for autonomous driving. The paper provides the system architecture, design logic, network topology, message flow, artificial intelligence (AI) and network security feature. As a reference it also includes a commercial project with its test results. [ABSTRACT FROM AUTHOR]

Cellular Vehicle-to-Everything technology (C-V2X) is one of the important technical means to fulfill the Internet of Vehicles (IoV) services. Several standards organizations around the world have carried out research on C-V2X key technologies, network architectures and service application scenarios. The development of the IoV has put forward more requirements for 5G broadband mobile networks in terms of high bandwidth, low latency, high concurrency, low power consumption, and heterogeneous network compatibility. This paper attempts to study the IoV architecture and key terminal units such as on-board unit (OBU) design and road side unit (RSU) based on 5G and C-V2X technology. It first introduces the development of IoV technology and standards, and analyzes the existing IoV architecture design. The vehicle OBU design and RSU service design were finally proposed and described in detail. [ABSTRACT FROM AUTHOR]

The transportation system has evolved into a complex cyber-physical system with the introduction of wireless communication and the emergence of connected travelers and connected automated vehicles. Such applications create an urgent need to develop high-fidelity transportation modeling tools that capture the mutual interaction of the communication and transportation systems. This paper addresses this need by developing a high-fidelity, large-scale dynamic and integrated traffic and direct cellullar vehicle-to-vehicle and vehicle-to-infrastructure (collectively known as V2X) modeling tool. The unique contributions of this work are (1) we developed a scalable implementation of the analytical communication model that captures packet movement at the millisecond level; (2) we coupled the communication and traffic simulation models in real-time to develop a fully integrated dynamic connected vehicle modeling tool; and (3) we developed scalable approaches that adjust the frequency of model coupling depending on the number of concurrent vehicles in the network. The proposed scalable modeling framework is demonstrated by running on the Los Angeles downtown network considering the morning peak hour traffic demand (145,000 vehicles), running faster than real-time on a regular personal computer (1.5 h to run 1.86 h of simulation time). Spatiotemporal estimates of packet delivery ratios for downtown Los Angeles are presented. This novel modeling framework provides a breakthrough in the development of urgently needed tools for large-scale testing of direct (C-V2X) enabled applications. [ABSTRACT FROM AUTHOR]

C-V2X (Cellular Vehicle-to-Everything) is a state-of-the-art wireless technology used in autonomous driving and intelligent transportation systems (ITS). This technology has extended the coverage and blind-spot detection of autonomous driving vehicles. Economically, C-V2X is much more cost-effective than the traditional sensors that are commonly used by autonomous driving vehicles. This cost-benefit makes it more practical in a large scale deployment. PC5-based C-V2X uses an RF (Radio Frequency) sidelink direct communication for low latency mission-critical vehicle sensor connectivity. Over the C-V2X radio communications, the autonomous driving vehicle's sensor ability can now be largely enhanced to the distances as far as the network covers. In 2020, 5G is commercialized worldwide, and Taiwan is at the forefront. Operators and governments are keen to see its implications in people's daily life brought by its low latency, high reliability, and high throughput. Autonomous driving class L3 (Conditional Automation) or L4 (Highly Automation) are good examples of 5G's advanced applications. In these applications, the mobile networks with URLLC (Ultra-Reliable Low-Latency Communication) are perfectly demonstrated. Therefore, C-V2X evolution and 5G NR (New Radio) deployment coincide and form a new ecosystem. This ecosystem will change how people will drive and how transportation will be managed in the future. In this paper, the following topics are covered. Firstly, the benefits of C-V2X communication technology. Secondly, the standards of C-V2X and C-V2X applications for automotive road safety system which includes V2P/V2I/V2V/V2N, and artificial intelligence in VRU (Vulnerable Road User) detection, object recognition and movement prediction for collision warning and prevention. Thirdly, PC5-based C-V2X deployment status in global, especially in Taiwan. Lastly, current challenges and conclusions of C-V2X development. [ABSTRACT FROM AUTHOR]