In current vehicle-to-everything (V2X) communication systems, roadside units (RSUs) broadcast brief warning messages that alert nearby vehicles to avoid potential hazards. However, these messages lack contextual information on why a warning is issued, leading to excessive caution or inefficient driving behaviors. To avoid such a situation, we propose a semantic-enhanced and explainable V2X (SEE-V2X) system. In the proposed system, RSUs equipped with smart cameras detect obstructions and transmit context-aware messages to vehicles. By understanding both what the hazard is and why it occurs, drivers can make more intelligent decisions based on their specific driving situation. Furthermore, through a real-field demonstration, we show the new "see-through" feature in the proposed system, which enables drivers to visualize hidden pedestrians behind obstacles. We also perform simulations to compare traditional V2X with SEE-V2X under different traffic conditions. The results show that SEE-V2X significantly improves traffic efficiency and reduces unnecessary deceleration.
@article{arxiv.2509.02442,
title = {Know What, Know Why: Semantic Hazard Communication for Intelligent V2X Systems},
author = {Chen Sun and Wenqi Zhang and Bizhu Wang and Xiaodong Xu and Chau Yuen and Yan Zhang and Ping Zhang},
journal= {arXiv preprint arXiv:2509.02442},
year = {2025}
}