Моделирование влияния потерь сообщений 5G NR-V2X на поведение подключенных беспилотных транспортных средств

Московский транспорт. Наука и проектирование. 2026. № 2. С. 77–90.

Romanov A., Физулин А. В., Stepanyants V.

The behaviour of connected automated vehicles in implementing cooperative safety functions
depends on the timely exchange of V2X messages. At the same time, the end-to-end impact of 5G NR-V2X
Mode 2 message delivery failures on vehicle behaviour requires evaluation not only by aggregated network
metrics but also by the timeliness of V2X message arrival within the time window acceptable for the control
controller. The paper presents a reproducible co-simulation environment integrating the SUMO traffic
mobility simulator, information exchange via TraCI, network simulation in ns-3/ms-van3t, the 5G-LENA NR
sidelink module, the Sionna RT geometric radio channel model and event logs. The environment implements
mechanisms for modifying link quality for individual vehicles and end-to-end message tracing with identifier
preservation for message analysis and assessment of the impact of message losses on connected automated
vehicle behaviour. Experimental validation was performed in two scenarios. In the emergency vehicle warning
scenario, a series of 140 independent iterations showed that as PRR (Packet Reception Ratio) decreases from
0.9412 to 0.0675, the 90th percentile of the first CAM (Cooperative Awareness Message) reception delay
increases from 4.45 to 32.52 s. Spearman’s rank correlation identifies a direct relationship between txPower
(transmitter power) and PRR (ρs = 0.981, p < 0.001) and an inverse relationship between PRR and P90 delay
(ρs = –0.927, p < 0.001). In the priority intersection conflict scenario, stable V2X message exchange ensures
that the first useful warning arrives before the critical moment of control action formation. As a result, no
collision occurred in any of the 30 independent iterations. In the “radar-only” and “radar + degraded V2X”
modes, the warning arrives after the critical moment, causing each iteration to end in a collision. The results
show that the safety assessment of cooperative functions requires joint analysis of PRR, the temporal structure
of message arrival and vehicle behaviour.

Keywords: V2X, 5G NR-V2X, NS-3, NR-V2X, co-simulation, Sionna RT, SUMO, first CAM reception delay, packet reception ratio, connected automated vehicles, ns-3, Sionna RT, SUMO, V2X, задержка первого приема CAM, коэффициент приема пакетов, подключенные беспилотные транспортные средства, совместное имитационное моделирование