Implementation and Evaluation of Intelligent Roadside Infrastructure for Automated Vehicle with I2V Communication

Automated vehicles (AV) are important elements of smart cities reducing traffic congestions and gas emission. These objectives, however, cannot be achieved without smart infrastructures installed in complex road sections like intersections, roundabouts, blind zones, and uphill. Smart infrastructures equipped with sensors combined with infrastructure-to-vehicle (I2V) communication offer an opportunity to make better decision and to extend perception of AVs. Roadside infrastructure (RSI) is for various services such as green light optimization speed advisory, cooperative awareness, and decentralized event notification supporting AVs to driving safer and in a more efficient manner. Complementary, a collective perception message (CPM) is under specification at European Telecommunications Standardization Institute (ETSI) to transfer information from smart sensors. As CPM carries detailed information on objects detected by the sensors, significant benefits are expected by installing such service on RSI collecting data on blind zones and other complex areas. In this paper, we first introduce an intelligent RSI architecture, which is compatible with multiple sensor types and providers, further processes sensor data for CPM creation and transmission. Then, we present our methodology for implementation of our RSI for on-site experimentations. Finally, some key evaluations of CPM transmissions are conducted.