Autonomous vehicles need to have sufficient perception of the surrounding environment to produce appropriate driving behavior. The Vehicle-to-Vehicle (V2V) communication technology can exchange the speed, position, direction, and other information between autonomous vehicles to improve the sensing ability of the traditional on-board sensors. For example, V2V communication technology does not have a blind spot like a conventional on-board sensor, and V2V communication is not easily affected by weather conditions. However, it is almost impossible to make every vehicle a V2V-equipped vehicle in the real environment due to reasons such as policy and user choice. Low penetration of V2V-equipped vehicles greatly reduces the performance of the traditional V2V system. In this paper, however, we propose a novel method that can extend the awareness ability of the traditional V2V system without adding much extra investment. In the traditional V2V system, only a V2V-equipped vehicle can broadcast its own location information. However, the situation is somewhat different in our V2V system. Although non-V2V-equipped vehicles cannot broadcast their own location information, we can let V2V-equipped vehicle with radar and other sensors detect the location information of the surrounding non-V2V-equipped vehicles and then broadcast it out. Therefore, we think that a non-V2V-equipped vehicle can also broadcast its own location information. In this way, we greatly extend the awareness ability of the traditional V2V system. The proposed method is validated by real experiments and simulation experiments.
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