{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,17]],"date-time":"2026-04-17T04:48:22Z","timestamp":1776401302208,"version":"3.51.2"},"reference-count":43,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2022,3,31]],"date-time":"2022-03-31T00:00:00Z","timestamp":1648684800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002358","name":"Beihang University","doi-asserted-by":"publisher","award":["Beihang program"],"award-info":[{"award-number":["Beihang program"]}],"id":[{"id":"10.13039\/501100002358","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Exploring data connection information from vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications using advanced machine learning approaches, an intelligent transportation system (ITS) can provide better safety services to mitigate the risk of road accidents and improve traffic efficiency. In this work, we propose an end-edge-cloud architecture to deploy machine learning-driven approaches at network edges to predict vehicles\u2019 future trajectories, which is further utilized to provide an effective safety message dissemination scheme. With our approach, the traffic safety message will only be disseminated to relevant vehicles that are predicted to pass by accident areas, which can significantly reduce the network data transmission overhead and avoid unnecessary interference. Depending on the vehicle connectivity, our system adaptively chooses vehicle-to-vehicle (V2V) or vehicle-to-infrastructure (V2I) communications to disseminate safety messages. We evaluate the system by using a real-world VANET mobility dataset, and experimental results show that our system outperforms other mechanisms without considering any predicted vehicle trajectory density information.<\/jats:p>","DOI":"10.3390\/s22072686","type":"journal-article","created":{"date-parts":[[2022,3,31]],"date-time":"2022-03-31T21:34:29Z","timestamp":1648762469000},"page":"2686","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Effective Safety Message Dissemination with Vehicle Trajectory Predictions in V2X Networks"],"prefix":"10.3390","volume":"22","author":[{"given":"Hantao","family":"Li","sequence":"first","affiliation":[{"name":"School of Electronic and Information Engineering, Beihang University, Beijing 100190, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Feng","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Electronic and Information Engineering, Beihang University, Beijing 100190, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0979-9272","authenticated-orcid":false,"given":"Zhongliang","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Electronic and Information Engineering, Beihang University, Beijing 100190, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mostafa","family":"Karimzadeh","sequence":"additional","affiliation":[{"name":"Sensonic, 4780 Scharding, Austria"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,3,31]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Sanguesa, J.A., Fogue, M., Garrido, P., Martinez, F.J., Cano, J., Calafate, C.T., and Manzoni, P. (2012, January 21\u201323). Real-time density estimation in urban environments by using vehicular communications. Proceedings of the 2012 IFIP Wireless Days, Dublin, Ireland.","DOI":"10.1109\/WD.2012.6402835"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Balcilar, M., and Sonmez, A.C. (2008, January 27\u201329). Extracting vehicle density from background estimation using Kalman filter. Proceedings of the 2008 23rd International Symposium on Computer and Information Sciences, Istanbul, Turkey.","DOI":"10.1109\/ISCIS.2008.4717950"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1700","DOI":"10.1109\/TITS.2013.2267735","article-title":"Supervised Weighting-Online Learning Algorithm for Short-Term Traffic Flow Prediction","volume":"14","author":"Jeong","year":"2013","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1108\/JICV-01-2019-0003","article-title":"The research of traffic density extraction method under vehicular ad hoc network environment","volume":"2","author":"Wu","year":"2019","journal-title":"J. Intell. Connect. Veh."},{"key":"ref_5","first-page":"922","article-title":"Attention based spatial-temporal graph convolutional networks for traffic flow forecasting","volume":"33","author":"Guo","year":"2019","journal-title":"Proc. AAAI Conf. Artif. Intell."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"343","DOI":"10.1023\/A:1011258622298","article-title":"Applications of Wireless Communication Technologies for Intelligent Transport Systems","volume":"17","author":"Tokuda","year":"2001","journal-title":"Wirel. Pers. Commun."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1156","DOI":"10.1109\/TITS.2012.2190509","article-title":"Vehicular Traffic Density State Estimation Based on Cumulative Road Acoustics","volume":"13","author":"Tyagi","year":"2012","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Shirani, R., Hendessi, F., and Gulliver, T.A. (2009, January 20\u201323). A Store-Carry-Forward based Message Dissemination Approach with Local Density Estimation in Vehicular Ad-Hoc Networks. Proceedings of the 2009 IEEE 70th Vehicular Technology Conference Fall, Anchorage, AK, USA.","DOI":"10.1109\/VETECF.2009.5379108"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Bastani, S., Landfeldt, B., and Libman, L. (2011, January 4\u20137). A traffic density model for radio overlapping in urban Vehicular Ad hoc Networks. Proceedings of the 2011 IEEE 36th Conference on Local Computer Networks, Bonn, Germany.","DOI":"10.1109\/LCN.2011.6115563"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1561\/2200000006","article-title":"Learning Deep Architectures for AI","volume":"2","author":"Bengio","year":"2009","journal-title":"Found. Trends Mach. Learn."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"2191","DOI":"10.1109\/TITS.2014.2311123","article-title":"Deep Architecture for Traffic Flow Prediction: Deep Belief Networks with Multitask Learning","volume":"15","author":"Huang","year":"2014","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_12","first-page":"865","article-title":"Traffic Flow Prediction With Big Data: A Deep Learning Approach","volume":"16","author":"Lv","year":"2015","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1049\/ip-its:20055009","article-title":"Type-2 fuzzy logic approach for short-term traffic forecasting","volume":"153","author":"Li","year":"2006","journal-title":"IEEE Proc. Intell. Transp. Syst."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"466","DOI":"10.1109\/TITS.2010.2093575","article-title":"Variational Inference for Infinite Mixtures of Gaussian Processes With Applications to Traffic Flow Prediction","volume":"12","author":"Sun","year":"2011","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"326","DOI":"10.1504\/IJTM.2000.002870","article-title":"Using traffic prediction models for providing predictive traveler information","volume":"20","author":"Ran","year":"2000","journal-title":"Int. J. Technol. Manag."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"de Souza, A.M., and Villas, L.A. (2016, January 13\u201317). A Fully-distributed Traffic Management System to Improve the Overall Traffic Efficiency. Proceedings of the ACM International Conference on Modeling, Analysis and Simulation of Wireless and Mobile Systems (MSWiM\u201916), Valletta, Malta.","DOI":"10.1145\/2988287.2989167"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"1664","DOI":"10.1109\/TVT.2014.2335201","article-title":"Real-Time Path Planning Based on Hybrid-VANET-Enhanced Transportation System","volume":"64","author":"Wang","year":"2015","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_18","first-page":"36","article-title":"Autonomous real time route guidance in inter-vehicular communication urban networks","volume":"2","author":"Hawas","year":"2015","journal-title":"Veh. Commun."},{"key":"ref_19","first-page":"3672","article-title":"Congestion detection and propagation in urban areas using histogram models","volume":"5","author":"Thandavarayan","year":"2017","journal-title":"IEEE Internet Things J."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"118","DOI":"10.1016\/j.comnet.2016.09.011","article-title":"ICARUS: Improvement of traffic Condition through an Alerting and Re-routing System","volume":"110","author":"Yokoyama","year":"2016","journal-title":"Comput. Netw."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"2888","DOI":"10.1109\/TITS.2016.2531425","article-title":"Next Road Rerouting: A Multiagent System for Mitigating Unexpected Urban Traffic Congestion","volume":"17","author":"Wang","year":"2016","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"45167","DOI":"10.1109\/ACCESS.2020.2978700","article-title":"Vehicular traffic management based on traffic engineering for vehicular ad hoc networks","volume":"8","author":"Guidoni","year":"2020","journal-title":"IEEE Access"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"de Souza, A.M., Yokoyama, R.S., Maia, G., Loureiro, A., and Villas, L. (2016, January 27\u201330). Real-time path planning to prevent traffic jam through an intelligent transportation system. Proceedings of the IEEE Symposium on Computers and Communication (ISCC\u201916), Messina, Italy.","DOI":"10.1109\/ISCC.2016.7543822"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"58","DOI":"10.1109\/TMC.2016.2538226","article-title":"DIVERT: A Distributed Vehicular Traffic Re-Routing System for Congestion Avoidance","volume":"16","author":"Pan","year":"2017","journal-title":"IEEE Trans. Mob. Comput."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"608","DOI":"10.1109\/TITS.2016.2585925","article-title":"EcoTrec: A Novel VANET-Based Approach to Reducing Vehicle Emissions","volume":"18","author":"Doolan","year":"2017","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"50","DOI":"10.1109\/MWC.001.1900151","article-title":"Real-time route planning and data dissemination for urban scenarios using the Internet of Things","volume":"26","author":"Ahmad","year":"2019","journal-title":"IEEE Wirel. Commun."},{"key":"ref_27","unstructured":"(2022, January 01). Available online: http:\/\/www.inrix.com."},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Garip, M.T., Gursoy, M.E., Reiher, P., and Gerla, M. (2015, January 9\u201312). Scalable reactive vehicle-to-vehicle congestion avoidance mechanism. Proceedings of the IEEE Consumer Communications and Networking Conference (CCNC\u201915), Las Vegas, NV, USA.","DOI":"10.1109\/CCNC.2015.7158103"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1109\/COMST.2014.2339817","article-title":"A Communications-Oriented Perspective on Traffic Management Systems for Smart Cities: Challenges and Innovative Approaches","volume":"17","author":"Djahel","year":"2015","journal-title":"IEEE Commun. Surv. Tutor."},{"key":"ref_30","first-page":"1550147716683612","article-title":"Traffic management systems: A classification, review, challenges, and future perspectives","volume":"13","author":"Brennand","year":"2017","journal-title":"Int. J. Distrib. Sens. Netw."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"108","DOI":"10.1109\/MCOM.2014.6894460","article-title":"Harbornet: A real-world testbed for vehicular networks","volume":"52","author":"Ameixieira","year":"2014","journal-title":"IEEE Commun. Mag."},{"key":"ref_32","unstructured":"FutureCities Project (2022, January 01). Living Lab: Vehicular Adhoc Networking. Available online: http:\/\/futurecities.up.pt\/site\/vehicular-ad-hoc-networking-testbed\/."},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Karimzadeh, M., Gerber, F., Zhao, Z., and Braun, T.I. (2019, January 18\u201321). Pedestrians Trajectory Prediction in Urban Environments. Proceedings of the 2019 International Conference on Networked Systems (NetSys) (NetSys\u201919), Munich, Germany.","DOI":"10.1109\/NetSys.2019.8854506"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Monteiro, R., Guedes, L., Condeixa, T., Neves, F., Sargento, S., Guardalben, L., and Steenkiste, P. (2015, January 8\u201312). Lessons learned from a real vehicular network deployment of delay-tolerant networking. Proceedings of the 2015 IEEE International Conference on Communication Workshop (ICCW), London, UK.","DOI":"10.1109\/ICCW.2015.7247550"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"1786","DOI":"10.1109\/JSAC.2018.2844681","article-title":"Mobility Prediction-Assisted Over-the-Top Edge Prefetching for Hierarchical VANETs","volume":"36","author":"Zhao","year":"2018","journal-title":"IEEE J. Sel. Areas Commun."},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Karimzadeh, M., Zhao, Z., Gerber, F., and Braun, T. (2018, January 15\u201317). Pedestrians Complex Behavior Understanding and Prediction with Hybrid Markov Chain. Proceedings of the 2018 14th International Conference on Wireless and Mobile Computing, Networking and Communications (WiMob), Limassol, Cyprus.","DOI":"10.1109\/WiMOB.2018.8589126"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"191","DOI":"10.1016\/0022-247X(66)90020-5","article-title":"The shortest route problem with constraints","volume":"14","author":"Joksch","year":"1966","journal-title":"J. Math. Anal. Appl."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"2:1","DOI":"10.1145\/1416950.1416952","article-title":"Rank-biased Precision for Measurement of Retrieval Effectiveness","volume":"27","author":"Moffat","year":"2008","journal-title":"ACM Trans. Inf. Syst."},{"key":"ref_39","unstructured":"Behrisch, M., Bieker, L., Erdmann, J., and Krajzewicz, D. (2011, January 23\u201328). SUMO\u2014Simulation of Urban MObility: An Overview. Proceedings of the International Conference on Advances in System Simulation (SIMUL\u201911), Barcelona, Spain."},{"key":"ref_40","doi-asserted-by":"crossref","unstructured":"Varga, A., and Hornig, R. (2008, January 3\u20137). An overview of the OMNeT++ simulation environment. Proceedings of the International Conference on Simulation Tools and Techniques for Communications, Networks and Systems & Workshops (Simutools\u201908), Marseille, France.","DOI":"10.4108\/ICST.SIMUTOOLS2008.3027"},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1109\/TMC.2010.133","article-title":"Bidirectionally Coupled Network and Road Traffic Simulation for Improved IVC Analysis","volume":"10","author":"Sommer","year":"2011","journal-title":"IEEE Trans. Mob. Comput."},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"de Souza, A.M., Yokoyama, R.S., Maia, G., Loureiro, A.A.F., and Villas, L.A. (2015, January 27\u201329). Minimizing traffic jams in urban Centers using vehicular ad hoc networks. Proceedings of the 2015 7th International Conference on New Technologies, Mobility and Security (NTMS), Paris, France.","DOI":"10.1109\/NTMS.2015.7266505"},{"key":"ref_43","unstructured":"(2022, January 01). The Handbook Emission Factors for Road Transport. Available online: http:\/\/www.hbefa.net."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/7\/2686\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T22:47:20Z","timestamp":1760136440000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/7\/2686"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,3,31]]},"references-count":43,"journal-issue":{"issue":"7","published-online":{"date-parts":[[2022,4]]}},"alternative-id":["s22072686"],"URL":"https:\/\/doi.org\/10.3390\/s22072686","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,3,31]]}}}