Connected Vehicle Infrastructure University Transportation Center

Vehicle Based BSM Generator for Accelerating Deployment

Final Report


Upon initial deployment of V2X connected vehicle systems, the benefits are not readily available on day-one. Considering that the average survivability of vehicles in the United States is approximately 15 years [NHTSA 2006], the market penetration needed for the benefits associated with connected vehicle systems won’t be fully realized for some time. Even if all new vehicles are mandated to include such systems in addition to aftermarket devices, a disproportionate amount of non-connected vehicles to connected vehicles will continue to exist for some time. Since there will be very few connected vehicles deployed initially, the environment will be incomplete in terms of data available for connected vehicle applications.

To overcome this problem, it is proposed to use ranging sensors that are now becoming increasingly common in new vehicles. By accessing this sensor, relative distances and speeds of other vehicles can be determined. This information can then be packaged into a Basic Safety Message (BSM) and transmitted over-the-air (OTA) by a Generating Host Vehicle (GHV) for use by other connected vehicles or infrastructure applications. By utilizing ranging sensors and connected vehicle systems, early deployment benefits for both drivers and infrastructure are increased.

The proposed research project focuses on development of a BSM generating algorithm implemented to expedite the benefits of connected vehicle systems. If positive performance results are gained, the proof of concept can then be leveraged to support:

  • NHTSA V2V decision
  • Connected-automation information sharing (i.e. Cooperative Active Cruise Control in the presence of non-connected traffic)
  • Enhancement to current V2X messages
  • Creation of new V2X messages
  • New application development
  • Connected vehicle misbehavior detection
  • CVI-UTC research capabilities


  • The team has developed an algorithm that estimates the velocity and GPS position of radar targets from the perspective of a moving host vehicle.
  • This algorithm was improved upon through iterations of validation with Model Deployment naturalistic driving data.
  • The research team has developed an on-board vehicle system that utilizes the algorithm to transmit dynamic BSMs on behalf of remote vehicles that are not equipped with connected vehicle technologies.
  • The system can transmit BSMs on behalf of up to 4 non-connected vehicles at one time.
  • Testing the system in a controlled environment yielded data that is currently being used to further improve the algorithm.

Sponsor Organization

Research and Innovative Technology Administration
University Transportation Centers Program
Department of Transportation
1200 New Jersey Avenue, SE
Washington, DC 20590

UTC Grant Manager

Harwood, Leslie
Phone: 540-231-9530

Performing Organization

Virginia Polytechnic Institute and State University, Blacksburg
Virginia Tech Transportation Institute
3500 Transportation Research Plaza
Blacksburg, Virginia 24061

Research Investigators

Viray, Reginald
Doerzaph, Zac
Resendes, Raymond

More Information

Project Poster
TriD Format