I. Introduction
The constantly increasing traffic density on the roads puts substantial challenges to society. Because it is not possible to just build new roads at the same pace as traffic increases or extend the airspace, traffic throughput has to be improved. One way to increase throughput is to enable the cooperation between vehicles to allow information sharing, prospective planning and tight manoeuvre synchronization between vehicles beyond human reaction capabilities. The importance of the problem finds echo in large programs for car-to-car and car-to-roadside communication that have been launched on the national and European level by the car industry
A list of current project is available on the CAR 2 CAR Communication Consortium (http://www.car-to-car.org/index.php?id=6)
. The benefit from this vehicle cooperation firstly comes from extending the perception of the environment dramatically. E.g. an obstacle warning system can look miles ahead, prospective trajectory planning can detect possible conflicts far ahead using the information from other planes or a central data repository as in SESARhttp://www.sesarju.eu/about
. Additionally, new opportunities can be explored, such as extensive driver assistance systems that today are based on autonomous environment perception (and allowed only in very constraint mission contexts), which may greatly benefit from extended cooperation options.