3D Modeling and Analysis of Cooperative Perception-Oriented Millimeter-Wave V2I Networks With Information Value-Based Relay

Millimeter-wave(mmWave) communication is a key technology that enables autonomous vehicles and roadside units to collaborate in environment perception, thereby improving traffic efficiency and safety to a new level. Some recent works have focused on relay-based solutions to overcome inherent defects of mmWave, such as severe path loss and high sensitivity to obstacles. However, they both neglect the selfish behaviors of vehicles. Considering the application-oriented nature of vehicular communication, we propose an information value-based relay strategy in this article to characterize the selfishness of vehicles, which enables vehicles to make relay decisions through the value assessment of messages. Specifically, an extensible relay probability model is introduced to evaluate the information value based on the required awareness range of vehicles. By using stochastic geometry (SG), we construct an integrated three-dimensional (3D) system model for the vehicular relay-based vehicle-to-infrastructure (V2I) mmWave downlink, and derive the exact expressions of both blockage and outage probabilities. Simulations verify the analytical results and reveal the highest connection reliability of the vehicle exists and relies on both network- and application-related parameters. Moreover, the selfishness of vehicles deteriorates the connection reliability, especially under the conditions of the small information value of forwarded messages. These results laid the foundation for the further expansion of the information value-based relay strategies to a wider range of Internet of Vehicles (IoV) applications.