Cooperative V2X Communications and Sensing for Autonomous Mobility
Joao P. Amaral, Andreia B. Figueiredo, Pedro Rito, Susana Sargento · 2025
Autonomous vehicles are at the forefront of transforming transportation, promising enhanced safety and efficiency. However, their full potential relies on the seamless integration with Vehicle to Everything (V2X) communication systems to enable cooperative perception and decision-making. This paper presents a microservice-based architectural framework that integrates autonomous mobility platforms with V2X services. The Vehicle Programming Interface (VPI) integrates internal autonomous mobility ROS2 frameworks with other microservices, enabling seamless integration with real-time collective perception and cooperative planning. Key services, including the Collective Perception Service (CPS), Cooperative Awareness (CA) Basic Service, and Emergency Awareness facilitate dynamic vehicle control, improved situational awareness, and effective response to critical scenarios. The proposed system is validated in both controlled and real-world road environments, with real-world tests of VPI and services in a real autonomous vehicle. Results demonstrate low-latency performance, with Cooperative Awareness Messages (CAMs) and Decentralized Environmental Notification Messages (DENMs) achieving average end-to-end latencies below of 7.6 ms, and scalability in handling Collective Perception Messages (CPMs) with 30 detected objects per message. These findings confirm the system's capability for low-latency and scalable data exchange, highlighting its potential to enhance autonomous vehicle performance in dynamic urban environments.