The automated and connected vehicle will be a great technology development and it will change mobility habits. The two main positive effects of its integration are the improvement of road safety and the reduction of pollutant emissions of the vehicles. But first, the technology must be available. With the arrival of 5G (Fifth Generation), it will be a reality. However, the 5G could have some operation failures which could isolate the vehicle from the rest of the infrastructure. So, a solution is required which can improve communication reliability such that, if the 5G would fail, the short/middle range technology integrated will lead the vehicle with V2I communication. This integration would provide a reliable and strong solution. In this work, an analysis of different available communication technologies was carried out with a short/middle range, the selection criteria being lower cost and easy integration with 5G. To contrast the technologies, a validation methodology was developed, which enabled us to evaluate the performance ofV2I applications. We observed a comparatively higher performance of the module nRF24L01+ for V2I communication.

Electronic Stability Control (ESC) devices are going to become mandatory in the near future. Moreover, the high price of the electronic sensors makes engineers to build its active safety systems based on the knowledge of a reduced number of real vehicle states, while the rest must be estimated from the real ones. In this case, the new possibilities offered by an independently controlled wheel traction system are explored. The advantages enable to easily implement anti-lock braking and traction control systems, chassis motion control like Direct Yaw Control (DYC) and an estimation of road surface condition. Hence, yaw moment reference signal is possible to be followed not only by braking, but also by giving an increasing torque to wheels in order not to lose any global vehicle velocity. Fault-tolerant strategies are also covered for the dynamic behaviour to be appropriately adapted to an electrical fault. An electronic differential strategy is implemented in both axles in order to develop an active help to curve performance.

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