Intelligent transportation and autonomous mobility solutions rely on cooperative awareness developed by exchanging proximity and mobility data among road users. To maintain pervasive awareness on roads, all vehicles and vulnerable road users must be identified, either cooperatively, where road users equipped with wireless capabilities of Vehicle-to-Everything (V2X) radios can communicate with one another, or passively, where users without V2X capabilities are detected by means other than V2X communications. This necessitates the establishment of a communications channel among all V2X-enabled road users, regardless of whether their underlying V2X technology is compatible or not. At the same time, for cooperative awareness to realize its full potential, non-V2X-enabled road users must also be communicated with where possible or, leastwise, be identified passively. However, the question is whether current V2X technologies can provide such a welcoming heterogeneous road environment for all parties, including varying V2X-enabled and non-V2X-enabled road users? This paper investigates the roles of a propositional concept named Augmenting V2X Roadside Unit (A-RSU) in enabling heterogeneous vehicular networks to support and benefit from pervasive cooperative awareness. To this end, this paper explores the efficacy of A-RSU in establishing pervasive cooperative awareness and investigates the capabilities of the available communication networks using secondary data. The primary findings suggest that A-RSU is a viable solution for accommodating all types of road users regardless of their V2X capabilities.

翻译：智能交通与自主移动解决方案依赖于道路使用者之间通过交换邻近和移动性数据建立的协同感知。为实现道路的全面感知，所有车辆及弱势道路使用者必须被识别：既可通过协同方式——即配备车联网（V2X）无线通信能力的道路使用者相互通信，也可通过被动方式——即通过非V2X通信手段检测未配备V2X能力的用户。这要求在所有具备V2X能力的道路使用者之间建立通信通道，无论其底层V2X技术是否兼容。同时，为充分发挥协同感知的潜力，必须尽可能与未配备V2X能力的道路使用者进行通信，或至少对其进行被动识别。然而，当前V2X技术能否为包括不同V2X能力用户和非V2X能力用户在内的各方提供如此包容的异构道路环境？本文探讨了一种名为"增强型V2X路侧单元（A-RSU）"的概念性方案在异构车辆网络中实现并受益于全面协同感知的作用。为此，本文利用二手数据评估了A-RSU在建立全面协同感知方面的效能，并研究了现有通信网络的能力。初步结果表明，A-RSU是适应所有类型道路使用者（无论其是否具备V2X能力）的可行解决方案。