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In recent years, many simulation tools emerged to model the communication of connected vehicles. Thereby, the focus was put on channel modelling, applications or protocols while the localisation due to satellite navigation systems was treated as perfect. The effect of inaccurate positioning, however, was neglected so far. This paper presents an approach to extend an existing simulation framework for radio networks to estimate the localisation accuracy by navigation systems like GPS, GLONASS or Galileo. Therefore the error due multipath components is calculated by ray optical path loss predictions (ray tracing) considering 3D building data together with a well-established model for the ionospheric error.

We analyze the performance of different channel models and Radio Access Technologies (RATs) for platoon emergency braking in a highway scenario. We present a ray tracing channel model and analyze its differences with the WINNER+ stochastic channel model in terms of the pathloss calculation. Thanks to the consideration of obstacles and their reflections, the ray tracing channel model has been shown to be more realistic in near Tx-Rx distance. This corroborates the results of our performance comparison which highlights larger differences in close Tx-Rx pairs. Considering the simulation time consumption and the more realistic ray tracing predictions, we propose a new models usage for our simulations: a combination of WINNER+ and ray tracing channel models. Moreover, we implement one new 5G numerology on the basis of Long Term Evolution-Vehicles (LTE-V) for Vehicle-to-everything (V2X) communications. We include this new feature in our benchmarking setup and provide performance analysis results. It provides a basis for our future research of further 5G components.