Doppler spectrum evaluation on V2V communications for platooning

5th generation mobile communications system (5G) is being actively researched and developed. We focus on "Ultra-Reliable and Low-Latency Communications", with the goal of V2V communications in platooning; a highly anticipated function for autonomous driving. V2V direct communications play a very important role in realizing platooning. Studies of V2V direct communications in platooning have found spectrum spreading in excess of the maximum Doppler frequency which depends on frequency and moving speed. This studies the characteristics and phenomena unique to platooning; we find that the direct wave basically has no Doppler shift. However, we show that Doppler shift of up of twice the maximum Doppler frequency is observed although at a weak level, and we clarify the communication environment by various experiments.