搭建1:15比例智能路侧协同驾驶测试平台，验证车路协同系统
Miniature Testbed for Validating Multi-Agent Cooperative Autonomous Driving
- 构建包含智能路侧单元的微型城市道路环境，支持车路实时通信
- 通过路侧感知与交叉路口管理实验，实现车辆协同避障与通行优化
- 适合研究车路协同、自动驾驶系统验证的学者与工程师参考
车路协同自动驾驶通过车辆与智能路侧设施的实时协作扩展了车辆自主能力，但现有测试平台普遍缺乏具备感知、边缘计算与通信能力的智能基础设施。为填补这一空白，我们设计并实现了一个1:15比例的微型测试平台CIVAT，包含缩比城市道路地图、搭载车载传感器的自动驾驶车辆以及智能路侧设施。该平台基于共享Wi-Fi和ROS2框架，采用发布-订阅模式实现车车（V2V）与车路（V2I）通信，支持车辆与基础设施间的信息交互，从而实现协同驾驶功能。作为案例研究，我们通过基于路侧感知和交叉路口管理的实验验证了系统有效性。
原文摘要 · Abstract (English)
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.
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