Vehicle-to-Everything (V2X) technology paves the way for a new realm of possibilities in the development of autonomous vehicles and traffic systems. This cutting-edge solution adds an extra layer to autonomous technology, enabling crucial data sharing. This step is essential for achieving fully autonomous traffic while prioritizing safety and security. Despite the availability of the technology, the adoption of industrial-level communication devices remains low, making research in this area highly relevant. Wireless communication, although promising, comes with its own set of drawbacks and challenges. Therefore, conducting extensive real-life measurements and gathering as much data as possible from these devices is indispensable.
Several factors, including signal fading, shadowing, interference, and delays, can significantly impact wireless communication. Newly developed algorithms and automated solutions must take these factors into account. Real-life measurements provide substantial information to enhance further development.
A measurement campaign was successfully carried out with 4 vehicles equipped with Cohda Wireless MK5 OBUs (On Board Units) (2 vehicles with PKI-on, 2 vehicles with PKI-off). The communication hardware were using the default configuration. The security stack was provided by Microsec V2X PKI.
The datasets includes information on:
- Decoded received and transmitted V2X messages (secured and not secured GeoNetworking packets)
- Rx.json – includes all received V2X messages by that specific host vehicle (CAM, DENM) also including RSU messages (CAM, DENM, MAPEM, SPaTEM, IVIM)
- Tx.json – includes all transmitted V2X awareness messages by that specific host vehicle (CAM, DENM)
- Protocol stack (encapsulated in messages)
- PHY layer (ITS-G5 parameters): channel number (CCH/SCH), MCS, Rx power, Rx noise
- MAC layer: Ethernet header
- Network layer: GeoNetworking header
- Transport layer: Basic Transport Protocol (BTP)
- Facilities layer: ETSI ITS (e.g. CAM, DENM etc.)
The measurement was performed on a 72km long route with 3 sections (Hungary, Budapest + M0 motorway (ring road around Budapest)):
- Section 1 (Budapest -> M0)
- Section 2 (M0 motorway ring)
- Section 3 (M0 -> Budapest)
The dataset can be utilized for the analysis of V2X traffic and the comparison of PKI and PKI-authenticated 802.11p-based V2X communication (ITS-G5). The route offers measurements in heavy traffic situations, where communicating vehicles were separated by numerous vehicles, including trucks and buses, which can also impact communication quality. It encompasses urban canyons, motorway environments with stationary, low, and high vehicle speeds, reaching up to 130 km/h.
During the measurement, the communication devices were successfully communicating with the already installed RSU devices on the M0 motorway.
The measurement was carried out by the following participants:
- Budapest University of Technology and Economics
- Microsec Ltd. (PKI provider)
Dataset is available for free (but in case of usefulness, please cite one of our papers): https://doi.org/10.5281/zenodo.8429962