ghest degree of automation2. 90% message reliability, and 99.99% for the highest degree of automation relative longitudinal position accuracy of less than 0.5 m is required. 10-30 messages per second during broadcasting. Dynamic communication range control to improve resource efficiency given the varying platoon size, and to limit message distribution for privacy reasons. Advanced driving: Vehicle/RSU shares data that is collected through local sensors with nearby vehicles, allowing the vehicles to coordinate their paths and to avoid accidents. Advanced driving enables semi-automated or fully automated driving. Each vehicle shares its intention to change path and speed with vehicles in proximity, thus inter- vehicle distance adjustments are required. The key requirements for communication between two vehicles employing advanced driving mechanisms include: Large system bandwidth to support burst transmission of large data packets 10 ms latency for highest degree of automation 99.99% message reliability for highest degree of automation In an autonomous vehicle scenario, the vehicle's on-board computers are fully capable of performing all driv- ing operations on their own, with no human monitoring or intervention. 794 Chapter 7 Extended sensors: Extended sensors enable the exchange of raw or processed data (e.- g., cameras, radar, LIDAR) gathered from vehicle sensors or live video images among vehicles, road site units, devices of pedestrian, and V2X application servers. The vehi- cles can increase the knowledge of the environment/road conditions beyond of what their own sensors can detect and have a broader and holistic view of the driving condi- tions. The sensor data that a vehicle can share ranges from photo of a road hazard to real-time video stream. The availability of sensor data from multiple separate sources enhances situation awareness of the vehicles and pedestrians, and thus improves road safety. Extended sensors further enable new features such as cooperative driving and precise positioning, which are n