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<p>The advancement of Intelligent Transportation Systems (ITS) relies fundamentally on reliable Vehicle-to-Everything (V2X) connectivity. While interest in V2X communication has surged with the rise of autonomous driving, experimental validation remains constrained by the limited availability and high cost of hardware-based testbeds. Consequently, much of the existing research depends on simulations that often fail to capture real-world complexities. This paper presents the design, implementation, and evaluation of a modular, cost-effective V2X testbed constructed entirely from commodity hardware components. The testbed supports both Vehicle-to-Infrastructure (V2I) and Vehicle-to-Vehicle (V2V) communication and employs a lightweight, streamlined Basic Safety Message (BSM) structure. To demonstrate its practicality, we implement three representative V2X applications: collision detection, intelligent traffic management, and parking availability detection. Additionally, a Kalman filter-based trajectory prediction model is integrated to improve vehicle state estimation with minimal computational overhead. Experimental results across BSM broadcast frequencies of 1 to 10 Hz and vehicle speeds of 5 to 30 km/h demonstrate end-to-end latency below 3.5 ms and packet delivery ratios above 94% under nominal conditions, showing that the proposed testbed provides a scalable and affordable alternative to costly real-world deployments, effectively bridging the gap between simulation and practice. Comparative validation with a Network Simulator 3 (NS3)-based simulation further highlights discrepancies arising from unmodeled real-world factors, underscoring the importance of hardware testbeds in advancing V2X research. Additional scalability simulations across 50-250 nodes show that latency increases from 3.1 ms to 9.3 ms and Packet Delivery Ratio (PDR) degrades from 49% to 27% as node density grows, establishing practical operational boundaries and motivating congestion control mechanisms for dense urban deployments.</p>

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Developing a cost-effective V2X testbed: an empirical study on vehicular network characteristics

  • 期刊论文

  • 发表日期：

    2026年5月20日

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  • Manoj Bandara Dissanayake,
  • Patikiri Arachchige Don Shehan Nilmantha Wijesekara,
  • Shamika Lakshan Indrasiri,
  • Hasini Prabodhika Dematawaarachchi,
  • Kalupahana Liyanage Kushan Sudheera,
  • Peter Han Joo Chong

摘要

The advancement of Intelligent Transportation Systems (ITS) relies fundamentally on reliable Vehicle-to-Everything (V2X) connectivity. While interest in V2X communication has surged with the rise of autonomous driving, experimental validation remains constrained by the limited availability and high cost of hardware-based testbeds. Consequently, much of the existing research depends on simulations that often fail to capture real-world complexities. This paper presents the design, implementation, and evaluation of a modular, cost-effective V2X testbed constructed entirely from commodity hardware components. The testbed supports both Vehicle-to-Infrastructure (V2I) and Vehicle-to-Vehicle (V2V) communication and employs a lightweight, streamlined Basic Safety Message (BSM) structure. To demonstrate its practicality, we implement three representative V2X applications: collision detection, intelligent traffic management, and parking availability detection. Additionally, a Kalman filter-based trajectory prediction model is integrated to improve vehicle state estimation with minimal computational overhead. Experimental results across BSM broadcast frequencies of 1 to 10 Hz and vehicle speeds of 5 to 30 km/h demonstrate end-to-end latency below 3.5 ms and packet delivery ratios above 94% under nominal conditions, showing that the proposed testbed provides a scalable and affordable alternative to costly real-world deployments, effectively bridging the gap between simulation and practice. Comparative validation with a Network Simulator 3 (NS3)-based simulation further highlights discrepancies arising from unmodeled real-world factors, underscoring the importance of hardware testbeds in advancing V2X research. Additional scalability simulations across 50-250 nodes show that latency increases from 3.1 ms to 9.3 ms and Packet Delivery Ratio (PDR) degrades from 49% to 27% as node density grows, establishing practical operational boundaries and motivating congestion control mechanisms for dense urban deployments.