In recent years, research concerning autonomous driving has gained momentum to enhance road safety and traffic efficiency. Relevant concepts are being applied to the fields of perception, planning, and control of automated vehicles, to leverage the advantages offered by vehicle-to-everything (V2X) communication technology. The emergence of V2X communications increases the level of certainty regarding a vehicle’s surroundings and serves as an enabler for autonomous driving. V2X is essential for safe and efficient autonomous driving. Therefore, we need to study the performance of V2X communications to better perform its integration in future autonomous vehicles. In this paper, we describe a testbed V2X infrastructure with components to test the real effectiveness of V2X for autonomous driving using dedicated short-range communications (DSRC) technology. We present our developed intelligent transportation system (ITS) applications, and then, we show their integration within the autonomous vehicle on the one hand and within the infrastructure module on the other hand. Finally, to show the efficiency of this development, we conduct several real-world tests on an end-to-end communication architecture.

近年来，有关自动驾驶的研究在提高道路安全和交通效率方面获得了动力。相关概念正在应用于自动驾驶汽车的感知、规划和控制领域，以利用车对一切 (V2X) 通信技术提供的优势。V2X 通信的出现提高了车辆周围环境的确定性，并成为自动驾驶的推动者。V2X对于安全高效的自动驾驶至关重要。因此，我们需要研究 V2X 通信的性能，以更好地将其集成到未来的自动驾驶汽车中。在本文中，我们描述了一个带有组件的测试平台 V2X 基础设施，以使用专用短程通信 (DSRC) 技术测试 V2X 对自动驾驶的真正有效性。我们展示了我们开发的智能交通系统 (ITS) 应用程序，然后，我们一方面展示了它们在自动驾驶汽车中的集成，另一方面展示了它们在基础设施模块中的集成。最后，为了展示这种开发的效率，我们对端到端通信架构进行了几次实际测试。