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An ETSI ITS-enabled Robotic Scale Testbed for Network-Aided Safety-Critical Scenarios
Ref: CISTER-TR-230606       Publication Date: 27, Jun, 2023

Abstract:
Vehicle-to-Everything (V2X) communications allows new and exciting relevant Intelligent Transportation Systems (ITS) applications such as cooperative perception. In some vehicular use-cases, infrastructure can have a crucial role in safeguarding safety, e.g. in an intersection in which inflowing vehicles do not have Line-of-Sight (blind corner) and an emergency braking action is required. Performance evaluation of vehicular communications systems (end-to-end delay, packet loss ratio, etc.) often resorts to static wireless testbeds, but there tends to be little consideration about the other subsystems involved in the time-sensitive goal, namely sensors, processing and decision-making, and vehicle actuators. In this paper we present a laboratorial testbed in which ETSI ITS/IEEE 802.11pbased On-Board and Road-Side Units (OBU/RSU) are deployed on a 1110-scale autonomous robotic vehicle and on the road-side respectively, the latter being part of a road-side infrastructure that includes a camera and an edge processing node. We target a use-case of collision avoidance supported by the network, in which the infrastructure detects an impending collision and issues a DEN message to prevent it. We aim to take a step beyond the traditional end-to-end delay characterization that is limited to the communication subsystem, by proposing a tool that enables realistic characterization of the entire end-to-end (detection-to-action) delay in safety-critical use-cases. Results show that the end-to-end latency of the system (camera-edge processing node-RSU-OBU-vehicle actuators) is under 100ms.

José Pinheiro

,

Enio Filho

,

Pedro Miguel Santos

,

Luís Almeida

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