Impact of 5G NR-V2X Message Losses on Connected Vehicle Warning Functions

Cooperative warning functions depend on whether V2X information becomes available in time to influence vehicle control. This article presents an event-based co-simulation framework coupling SUMO, ns-3 (ms-van3t), 5G-LENA NR sidelink and application records, with Sionna RT enabled for the intersection scenario. In 140 emergency-vehicle-warning runs, reducing mean packet reception ratio (PRR) from 0.9412 to 0.0675 accompanied an increase from 4.45 to 32.52 s in the median across runs of the within-run 90th percentile of first Cooperative Awareness Message (CAM) reception delay, measured from the sender’s first logged CAM transmission. At a fixed priority intersection, all endpoints were recomputed for the same nine complete-case runs per information mode, giving 27 runs. Median first controller-warning times were 2.068 s with high-quality V2X, 4.795 s with degraded V2X and 5.000 s with radar only. Collision records showed 0/9, 9/9 and 9/9 runs with the specified collision, respectively. This record-completeness-selected sample supports a scenario-specific comparison, not a population collision probability or a transferable safety threshold.