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In this paper, we propose a contention intensity based distributedcoordination (CIDC) scheme for safety message broadcast. By exploiting thehigh-frequency and periodical features of the safety message broadcast, theapplication-layer design of the CIDC enables each vehicle to estimate theinstantaneous channel contention intensity in a fully distributed manner. Withthe contention intensity information, the MAC layer design of CIDC allowsvehicles to adopt a better channel access strategy compared to the 802.11p.This is because CIDC selects the initial back-off counter for each new packetdeterministically, i.e., based on the contention intensity, instead ofrandomly. The proposed CIDC is modeled, and key performance indicators in termsof the packet collision probability and average contention delay, are derived.It is shown that the proposed change in the initial counter selection leads toa system model completely different from the classic Markov chain based model.Moreover, the proposed CIDC, fully distributed and compatible with the 802.11p,can achieve both a much lower collision probability and a smaller contentiondelay compared with 802.11p at the cost of a small communication andcomputation overhead. Extensive simulation results demonstrate theeffectiveness of the CIDC in both of the accurate and the erroneous contentionintensity estimation scenarios.

Contention Intensity based Distributed Coordination for V2V Safety Message Broadcast