The automotive sector is following a revolutionary path from vehicles controlled by humans to vehicles that will be fully automated, fully connected, and ultimately fully cooperative. Along this road, new cooperative algorithms and protocols will be designed and field tested, which represents a great challenge in terms of costs. In this context, in particular, moving from simulations to practical experiments requires huge investments that are not always affordable and may become a barrier in some cases. To solve this issue and provide the community with an intermediate step, we here propose the use of 1:10 scaled cooperative, autonomous, and connected mini-cars. The mini-car is equipped with a Jetson Orin board running the open Robot Operating System 2 (ROS2), sensors for autonomous operations, and a Raspberry Pi board for connectivity mounting the open source Open Stack for Car (OScar). A key aspect of the proposal is the use of OScar, which implements a full ETSI cooperative-intelligent transport systems (C-ITS) compliant stack. The feasibility and potential of the proposed platform is here demonstrated through the implementation of a case study where the Day-1 intersection collision warning (ICW) application is implemented and validated.

翻译：汽车行业正沿着一条革命性的道路发展，从人类驾驶的车辆逐步转向完全自动化、全互联并最终实现完全协同的车辆。在这一进程中，新的协同算法与协议将被设计并进行实地测试，这在成本方面构成了巨大挑战。特别是在从仿真转向实际实验的阶段，往往需要巨额投入，这并非总能实现，在某些情况下甚至可能成为技术发展的障碍。为解决这一问题并为研究界提供一个过渡性方案，本文提出使用1:10比例的协同式、自主驾驶与互联微型车辆。该微型车搭载运行开源机器人操作系统2（ROS2）的Jetson Orin板、用于自主操作的传感器，以及配备开源车载开放平台（OScar）以实现互联功能的树莓派板。本方案的关键在于采用OScar——该平台实现了完全符合欧洲电信标准化协会（ETSI）协同智能交通系统（C-ITS）标准的协议栈。通过实施并验证Day-1交叉路口碰撞预警（ICW）应用的案例研究，本文论证了所提平台的可行性与潜力。