Miniature Testbed for Validating Multi-Agent Cooperative Autonomous Driving
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arXiv
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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866915617947254784 |
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| author | Bae, Hyunchul Lee, Eunjae Han, Jehyeop Kang, Minhee Kim, Jaehyeon Seo, Junggeun Noh, Minkyun Ahn, Heejin |
| author_facet | Bae, Hyunchul Lee, Eunjae Han, Jehyeop Kang, Minhee Kim, Jaehyeon Seo, Junggeun Noh, Minkyun Ahn, Heejin |
| contents | Cooperative autonomous driving, which extends vehicle autonomy by enabling real-time collaboration between vehicles and smart roadside infrastructure, remains a challenging yet essential problem. However, none of the existing testbeds employ smart infrastructure equipped with sensing, edge computing, and communication capabilities. To address this gap, we design and implement a 1:15-scale miniature testbed, CIVAT, for validating cooperative autonomous driving, consisting of a scaled urban map, autonomous vehicles with onboard sensors, and smart infrastructure. The proposed testbed integrates V2V and V2I communication with the publish-subscribe pattern through a shared Wi-Fi and ROS2 framework, enabling information exchange between vehicles and infrastructure to realize cooperative driving functionality. As a case study, we validate the system through infrastructure-based perception and intersection management experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_11022 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Miniature Testbed for Validating Multi-Agent Cooperative Autonomous Driving Bae, Hyunchul Lee, Eunjae Han, Jehyeop Kang, Minhee Kim, Jaehyeon Seo, Junggeun Noh, Minkyun Ahn, Heejin Robotics Cooperative autonomous driving, which extends vehicle autonomy by enabling real-time collaboration between vehicles and smart roadside infrastructure, remains a challenging yet essential problem. However, none of the existing testbeds employ smart infrastructure equipped with sensing, edge computing, and communication capabilities. To address this gap, we design and implement a 1:15-scale miniature testbed, CIVAT, for validating cooperative autonomous driving, consisting of a scaled urban map, autonomous vehicles with onboard sensors, and smart infrastructure. The proposed testbed integrates V2V and V2I communication with the publish-subscribe pattern through a shared Wi-Fi and ROS2 framework, enabling information exchange between vehicles and infrastructure to realize cooperative driving functionality. As a case study, we validate the system through infrastructure-based perception and intersection management experiments. |
| title | Miniature Testbed for Validating Multi-Agent Cooperative Autonomous Driving |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.11022 |