{"title":"Scalable AI-driven intent-based vehicle-to-everything communications for secure, low-latency, and energy-efficient smart cities","authors":"Wasim Ahmad , Farman Ali , Aitizaz Ali","doi":"10.1016/j.vehcom.2025.100973","DOIUrl":"10.1016/j.vehcom.2025.100973","url":null,"abstract":"<div><div>The Internet of Things (IoT) and vehicle-to-vehicle (V2V) communication technologies are rapidly growing, and a smart, efficient, and scalable communication framework could accomplish the optimum resource allocation and network performance objective. In view of this, although significant progress has been made in terms of V2V communication through IoT, current urban deployments through dense traffic (> 1,500 vehicles / hour experience average packet latencies ≥120 ms and per-packet energy consumptions ≥100 J, precluding life critical safety applications. To address these constraints, we introduce a novel four-layer V2X framework, AI-integrated Intent-Based Networking (AI-IBN), that:<ul><li><span>1.</span><span><div>Abstracts high-level safety and flow intents into the active per-link policies by way of a Deep Reinforcement-Learning controller.</div></span></li><li><span>2.</span><span><div>Integrates vehicle-to-vehicle(V2V)/vehicle-to-infrastructure (V2I)/vehicle-to-pedestrian (V2P)/vehicle-to-network (V2N) communication in a single intention manager.</div></span></li><li><span>3.</span><span><div>Formulates new subproblems that optimize intersection timing and allocate bus-lanes based, online, and with stochastic gradient updates; and</div></span></li><li><span>4.</span><span><div>Encrypts all intents in an end-to-end manner with a lightweight and symmetric-key authentication protocol.</div></span></li></ul> In the urban traffic data set (2 km2 grid, 1500 veh / h) generated by Google Colab in Python, AI-IBN decreases the average packet latency from 150 to 50 ms (67%), reduces the energy per message from 150 to 50 J (67%) and increases the packet success rate from 0.65 to 0.93. In a specific intensity Jamming attack (we have disrupted 10% percent of the channel), our security module maintains a success rate of > 0.90, while a baseline is lower than 0.70. These results enable sub-50-ms and sub-50 J collision-avoidance alerts and set the stage for scalable, life-critical V2X safety services in integrated intelligent transport systems.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"56 ","pages":"Article 100973"},"PeriodicalIF":6.5,"publicationDate":"2025-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145268473","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Felipe García Vidal, Esteban Egea López, José Santa Lozano
{"title":"Evaluation of multichannel operation mechanisms for vehicular networks","authors":"Felipe García Vidal, Esteban Egea López, José Santa Lozano","doi":"10.1016/j.vehcom.2025.100978","DOIUrl":"10.1016/j.vehcom.2025.100978","url":null,"abstract":"<div><div>Upon the massive deployment of Cooperative Intelligent Transportation Systems (C-ITS), services developed for connected vehicles need an efficient, reliable and predictable network access to assure proper operation. European Telecommunications Standards Institute (ETSI) Release 2 services cannot be deployed using a single control channel, and require the management of multiple channels used simultaneously by applications. Because of this, ETSI defined a mechanism called Multi-Channel Operation (MCO). Two simple MCO load allocation mechanisms have been recommended, load balancing and sequential filling, but they have not been evaluated in detail until now. In this paper, these two mechanisms, as well as their congestion control variants, are evaluated. An open-source simulation framework has been implemented for such a work, which is open to future extensions. Then, through multiple evaluations following the ETSI simulation setup, we discuss the behavior of these mechanisms under scenarios with a highly congested medium, employing different traffic loads and vehicular densities. Our results show that MCO improvement is limited under high-load conditions, by saturation of channels before switching to a new one (sequential filling) and synchronization of channel assignment among vehicles (load balancing), and the introduction of a simple reactive congestion control does not improve their performance. The main limitations are examined, and recommendations are provided to guide the evolution of these mechanisms.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"56 ","pages":"Article 100978"},"PeriodicalIF":6.5,"publicationDate":"2025-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145268475","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A privacy-enhanced authentication scheme for VANETs based on blockchain and zero-knowledge proof","authors":"Shangping Wang , Qi Huang, Ruoxin Yan, Juanjuan Ma, Xiaoling Xie","doi":"10.1016/j.vehcom.2025.100976","DOIUrl":"10.1016/j.vehcom.2025.100976","url":null,"abstract":"<div><div>The rapid development of Intelligent Transportation Systems (ITS) and autonomous driving technologies has made secure authentication and privacy protection of vehicle identities in Vehicular Ad Hoc Networks (VANETs) a hot research issue. Existing solutions typically rely on pseudonym-based approaches. These approaches incur large storage overhead and computational costs, which limit their scalability and efficiency. To address this problem, this paper proposes a novel anonymous authentication scheme in VANETs that synergistically integrates zero-knowledge proof (ZKP) and blockchain technology. An identity-based polynomial commitment is used in the present scheme to achieve privacy-preserving authentication, which ensures the anonymity of the vehicle without revealing sensitive information. Additionally, an identity-based signature algorithm, based on the Gap Diffie-Hellman (GDH) problem, ensures session unlinkability, enhancing connection security. Incorporating the Merkle Patricia Trie (MPT) into the blockchain framework optimizes data retrieval efficiency while minimizing storage and computational burdens on the central server. Blockchain's inherent immutability and transparency further enhance data integrity and security.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"56 ","pages":"Article 100976"},"PeriodicalIF":6.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145268464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Mobasshir Mahbub , Mir Md. Saym , Sarwar Jahan , Anup Kumar Paul , Alireza Vahid , Seyyedali Hosseinalipour , Bobby Barua , Hen-Geul Yeh , Raed M. Shubair , Tarik Taleb , Aryan Kaushik , Mohammed H. Alsharif , M. Shariful Islam , Russel Reza Mahmud , Dusit Niyato
{"title":"UAV-assisted wireless communications in the 6G-and-beyond era: An extensive survey on characteristics, standardization and regulations, enabling technologies, challenges, and future directions","authors":"Mobasshir Mahbub , Mir Md. Saym , Sarwar Jahan , Anup Kumar Paul , Alireza Vahid , Seyyedali Hosseinalipour , Bobby Barua , Hen-Geul Yeh , Raed M. Shubair , Tarik Taleb , Aryan Kaushik , Mohammed H. Alsharif , M. Shariful Islam , Russel Reza Mahmud , Dusit Niyato","doi":"10.1016/j.vehcom.2025.100977","DOIUrl":"10.1016/j.vehcom.2025.100977","url":null,"abstract":"<div><div>Unmanned Aerial Vehicles (UAVs) have emerged as transformative tools in wireless communication systems, revolutionizing the landscape of next-generation networks, including 6G and beyond. This survey comprehensively examines the technical advancements, challenges, and future directions of UAV-assisted wireless communications. It begins with analyzing UAV characteristics, such as flight dynamics, payload capacity, and power systems, and explores their pivotal role in enabling efficient connectivity across terrestrial, aerial, and maritime domains. The survey then delves into enabling technologies like advanced antenna designs, beamforming techniques, channel modeling, energy consumption models, and mobility optimization, emphasizing their necessity for achieving seamless UAV-to-ground, UAV-to-UAV, and UAV-to-satellite interactions. It further discusses regulatory frameworks and standardization efforts by global entities to address safety, spectrum allocation, and privacy concerns. Innovative routing protocols, including AI-driven and software-defined networking approaches, are analyzed, highlighting their potential to enhance scalability, reduce latency, and optimize resource management in dynamic UAV networks. This work identifies significant challenges such as energy efficiency, secure communication in hostile environments, and trajectory optimization while navigating complex three-dimensional (3D) spaces. The survey finally proposes directions for future research, including the exploration of sub-THz and THz communication, cross-layer routing, and the integration of UAVs with emerging networking paradigms. By synthesizing lessons learned and outlining unresolved questions, this paper serves as a resource for advancing UAV-enabled connectivity and unlocking new capabilities for ubiquitous and resilient wireless networks.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"56 ","pages":"Article 100977"},"PeriodicalIF":6.5,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145268474","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Camilo Anzola-Rojas, Ignacio de Miguel, Noemí Merayo, Juan Carlos Aguado, Rubén M. Lorenzo, Ramón J. Durán Barroso
{"title":"Optimizing road side units connectivity in intelligent transportation systems with optical network solutions","authors":"Camilo Anzola-Rojas, Ignacio de Miguel, Noemí Merayo, Juan Carlos Aguado, Rubén M. Lorenzo, Ramón J. Durán Barroso","doi":"10.1016/j.vehcom.2025.100975","DOIUrl":"10.1016/j.vehcom.2025.100975","url":null,"abstract":"<div><div>A fundamental component of Intelligent Transportation Systems (ITS) is connectivity. For connected vehicles to be aware of events occurring nearby, or even far from them, roadside infrastructure is essential. Roadside Units (RSUs) are electronic equipment placed along highways to provide connectivity and share data with vehicles, other RSUs, and networks. Connected vehicles require wireless communication with RSUs; however, depending on the complexity of tasks and the number of users, spectrum resources may be insufficient to handle all required communication between vehicles, RSUs and external networks. Since RSUs are stationary, optical fiber is an ideal technology for interconnecting them and linking them to the Internet and the cloud, providing reliable, high-performance connectivity, with low signal attenuation and high bandwidth. This paper proposes a model for deploying fiber networks to connect RSUs, with a focus on minimizing capital expenditures, including costs for civil works, cables, and devices, which are critical considerations given the large distances involved. Specifically, we consider and compare two established optical network technologies: point-to-point (PtP) and passive optical networks (PON). To support this comparison, we present and test two novel Integer Linear Programming (ILP) formulations: one for PtP and one for PON. Additionally, we introduce a genetic algorithm that improves upon a previously proposed heuristic, achieving near-optimal results comparable to the ILP formulation, while efficiently solving large-scale scenarios. The results show that the optimal choice between PtP and PON depends on the deployment area and density of RSUs.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"56 ","pages":"Article 100975"},"PeriodicalIF":6.5,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145221463","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Tayyaba Khurshid , Waqas Ahmed , Rizwan Ahmad , Muhammad Mahtab Alam , Joel J.P.C. Rodrigues
{"title":"Distributed Dynamic Consensus (DDC) protocol for multi-UAV 3D trajectory planning and resource allocation","authors":"Tayyaba Khurshid , Waqas Ahmed , Rizwan Ahmad , Muhammad Mahtab Alam , Joel J.P.C. Rodrigues","doi":"10.1016/j.vehcom.2025.100969","DOIUrl":"10.1016/j.vehcom.2025.100969","url":null,"abstract":"<div><div>In a Multiple Unmanned Air Vehicle (m-UAV) system, employing a centralized communication approach poses many challenges such as communication range limitations, energy efficiency, latency, etc. due to limited UAV resources. On the other hand, a distributed consensus approach has the ability to overcome these limitations and possesses numerous advantages if appropriate coordination mechanism among the UAVs is employed. Therefore, in this paper, we investigate joint optimization of 3D trajectory and UAV resources using a distributed consensus approach. We assume that User Devices (UDs) compute a portion of the task locally and offload the remaining part to the nearby Mobile Edge Computing (MEC) based UAV. Considering UAV dynamics and environmental constraints, a Deep Deterministic Policy Gradient (DDPG) is presented based on Distributed Dynamic Consensus (DDC) approach that utilizes consensus theory for distributed computing. We classified DDC into three cases namely; Distributed Velocity Consensus (DVC), Distributed Error Consensus (DEC), and Distributed Dynamic Velocity Consensus (DDVC). The performance of all three cases based on cost percentage (cost is the sum of normalized time delay and normalized energy consumption) and observed that DEC achieves minimum cost i.e., 40.62 whereas DVC and DDVC settled at 48.18 and 44.06 respectively. We further investigate the performance of DEC in partially connected, moderately connected, and fully connected networks. With centralized and autonomous decision-making scenario as a benchmark, results show that the DEC in the partially connected scenario converges faster with a lower cost.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"56 ","pages":"Article 100969"},"PeriodicalIF":6.5,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145221464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Zawiyah Saharuna , Tohari Ahmad , Royyana Muslim Ijtihadie
{"title":"SHAP-based feature selection and MASV-weighted SMOTE for enhanced attack detection in VANETs","authors":"Zawiyah Saharuna , Tohari Ahmad , Royyana Muslim Ijtihadie","doi":"10.1016/j.vehcom.2025.100970","DOIUrl":"10.1016/j.vehcom.2025.100970","url":null,"abstract":"<div><div>Vehicular Ad Hoc Networks (VANETs) are integral to Intelligent Transportation Systems (ITS) but remain highly vulnerable to cyberattacks, such as malicious attacks and position falsification. Detection is hindered by high-dimensional traffic data and severe class imbalance. Existing intrusion detection methods often overlook feature importance, limiting adaptability to different attack types. This study proposes an adaptive Intrusion Detection System (IDS) integrating SHAP-based feature selection with a MASV-weighted SMOTE technique. To the best of our knowledge, this is the first framework to leverage SHAP values not only for feature selection but also to guide class rebalancing during synthetic sample generation. Unlike conventional approaches, which treat all features equally, our method prioritizes features based on their Mean Absolute SHAP Values (MASV) in both selection and oversampling. Evaluated on CICIDS-2017 and validated on VeReMi, the framework demonstrates strong generalizability between datasets. It reduces feature dimensionality by up to 80% (78 to 15 features) while maintaining 99.91% accuracy, achieving up to 50.79% faster training and real-time inference below 0.1 ms per instance. MASV-weighted SMOTE transforms minority class detection performance, elevating the Infiltration attack F1-score from 0 to 88.89% and PR-AUC from 4.43% to 100%. These results outperform baseline models, enabling accurate, efficient, and interpretable IDS for VANETs security applications.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"56 ","pages":"Article 100970"},"PeriodicalIF":6.5,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145121225","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Md. Thouhidur Rahman , A.F.M. Shahen Shah , Muhammet Ali Karabulut , Haci Ilhan
{"title":"FANET-enabled cluster-based emergency communication with 3D mobility in 5G and beyond","authors":"Md. Thouhidur Rahman , A.F.M. Shahen Shah , Muhammet Ali Karabulut , Haci Ilhan","doi":"10.1016/j.vehcom.2025.100971","DOIUrl":"10.1016/j.vehcom.2025.100971","url":null,"abstract":"<div><div>In 5G and beyond, unmanned aerial vehicles (UAVs) are highly valued for their communication capabilities, affordability, and deployment flexibility. Multi-UAV systems, which operate in ad-hoc networks known as UAV ad-hoc networks or flying ad-hoc networks (FANETs), represent some of the most promising technologies both currently and in the future. In disaster situations, it will be crucial to set up temporary UAV-based emergency flying base stations (BSs), provide wireless coverage in cellular networks, and establish communication relays for long-distance data transmission. To establish this network, efficient communication between the UAVs is the most vital point. Additionally, due to mobility, the topology changes frequently, leading to potential collisions and packet losses. Therefore, in this paper, a minimum distance clustering scheme (MDCS)-based FANET is proposed, where the topology is controlled by a back-off mechanism and network connectivity is maintained even when the UAVs are moving at different altitudes by calculating the relative velocity on a 3D platform while considering the randomized path-based 3D mobility model. An efficient cluster build-up process and a method for determining the position of the cluster head (CH) are introduced to control the cluster proficiently. An analytical study is performed considering Rayleigh, Nakagami-m, and Rician fading channels. Moreover, the obtained Monte Carlo simulation results justify the analytical findings. Finally, the simulations show better results than existing work in terms of throughput with changes in distance, velocity, and the number of UAVs, as well as outage probability, packet dropping rate, and delay. In the case of the Rician fading channel, for 40 UAVs, a cluster size of 7 or fewer is more favorable, showing a maximum connection distance of 165 m, a maximum throughput of 10.2 Mbps, and a maximum delay of 55.57 ms.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"56 ","pages":"Article 100971"},"PeriodicalIF":6.5,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145099646","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Sunil Prajapat , Dheeraj Kumar , M. Shamim Hossain
{"title":"Secure quantum aggregate signature scheme for vehicular ad-hoc networks","authors":"Sunil Prajapat , Dheeraj Kumar , M. Shamim Hossain","doi":"10.1016/j.vehcom.2025.100974","DOIUrl":"10.1016/j.vehcom.2025.100974","url":null,"abstract":"<div><div>The rapid evolution of smart cities and intelligent transportation systems has led to the widespread deployment of Vehicular Ad Hoc Networks (VANETs), enabling real-time inter-vehicular communication and data sharing related to traffic congestion, vehicle location, and road safety. However, the open and dynamic nature of VANETs makes them vulnerable to various security threats, including identity tracing and message forgery. To address these concerns, this paper proposes a quantum aggregate signature scheme that leverages quantum teleportation and untraceable identity mechanisms for secure and privacy-preserving communication in VANETs. The proposed scheme enables the aggregation of multiple signatures into a single, compact signature while preserving the anonymity of vehicular nodes through pseudo-identities and quantum-enhanced privacy techniques. By incorporating quantum teleportation, our scheme ensures quantum-level security for message transmission without directly transferring the secret state. Furthermore, it supports efficient batch verification to authenticate messages from multiple vehicles with minimal computational and communication overhead. The protocol's correctness and security are validated using both Scyther tool-based formal verification and informal analysis, demonstrating strong resistance against existential forgery, impersonation, and traceability attacks. Compared to existing schemes, our approach reduces computational time by 0.053 ms and communication overhead by 778 bytes, making it scalable, efficient, and highly applicable for real-world VANET deployments.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"56 ","pages":"Article 100974"},"PeriodicalIF":6.5,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145099645","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Sawera Aslam, Daud Khan, Sudeb Mondal, KyungHi Chang
{"title":"RSU-assisted V2X message fusion via PC5 and Uu with actor–critic modeling for autonomous driving under intersection scenario","authors":"Sawera Aslam, Daud Khan, Sudeb Mondal, KyungHi Chang","doi":"10.1016/j.vehcom.2025.100972","DOIUrl":"10.1016/j.vehcom.2025.100972","url":null,"abstract":"<div><div>Autonomous driving systems rely heavily on effective data fusion from Vehicle-to-Everything (V2X) networks, where accurate decisions depend on integrating diverse messages from multiple communication interfaces. However, current single-interface communication methods, either PC5 or Uu, limit the achievable autonomy level due to insufficient reliability and situational awareness. To address these limitations, this paper proposes an efficient RSU-centered Message-level fusion framework tailored for intersection-based autonomous driving. The proposed approach strategically assigns CAM, CPM, and SPATEM to the PC5 interface, while DENM and MAPEM are assigned to the Uu interface. A confidence-weighted fusion algorithm is implemented at the RSU aligns timestamps, filters inconsistent inputs, and resolves conflicts to generate unified situational awareness messages every 100<!--> <!-->ms. The onboard decision-making model employs a CNN–GRU enhanced Actor–Critic network to optimize decisions for intelligent lane changing, collision avoidance, and traffic flow management. Simulation outcomes confirm that the proposed dual-interface fusion significantly enhances performance compared to single-interface systems, improving the packet delivery ratio to 0.75 at 300<!--> <!-->m and achieving decision accuracy improvements of approximately 14–25% across key use cases. Consequently, our framework meets the criteria for autonomy sub-level L4-C, providing a robust foundation for advanced intersection-based autonomous driving systems.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"56 ","pages":"Article 100972"},"PeriodicalIF":6.5,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145159196","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}