Vehicle-infrastructure (V2I) cooperative perception can substantially extend the range, coverage, and robustness of autonomous driving systems beyond the limits of onboard-only sensing, particularly in occluded and adverse-weather environments. However, its practical value is still difficult to quantify because existing benchmarks do not adequately capture large-scale multi-node deployments, realistic communication conditions, and adverse-weather operation. This paper presents CoInfra, a deployable cooperative infrastructure perception platform comprising 14 roadside sensor nodes connected through a commercial 5G network, together with a large-scale dataset and an open-source system stack for V2I cooperation research. The system supports synchronized multi-node sensing and delay-aware fusion under real 5G communication constraints. The released dataset covers an eight-node urban roundabout under four weather conditions (sunny, rainy, heavy snow, and freezing rain) and contains 294k LiDAR frames, 589k camera images, and 332k globally consistent 3D bounding boxes. It also includes a synchronized V2I subset collected with an autonomous vehicle. Beyond standard perception benchmarks, we further evaluate whether infrastructure sensing improves awareness of safety-critical traffic participants during roundabout interactions. In structured conflict scenarios, V2I cooperation increases critical-frame completeness from 33%-46% with vehicle-only sensing to 86%-100%. These results show that multi-node infrastructure perception can significantly improve situational awareness in conflict-rich traffic scenarios where vehicle-only sensing is most limited.

翻译：车路协同感知可显著扩展自动驾驶系统的感知范围、覆盖范围及鲁棒性，突破仅依赖车载感知的局限，尤其在遮挡和恶劣天气环境下。然而，由于现有基准数据集未能充分体现大规模多节点部署、真实通信条件及恶劣天气运行场景，其实际应用价值仍难以量化。本文提出CoInfra——一个可部署的协作式基础设施感知平台，包含通过商用5G网络连接的14个路侧传感器节点，同时发布大规模数据集及面向车路协同研究的开源系统框架。该系统支持在真实5G通信约束下的多节点同步感知与延时感知融合，发布数据集覆盖八节点城市环岛在四种天气条件（晴天、雨天、大雪、冻雨）下的数据，包含29.4万帧激光雷达点云、58.9万张相机图像及33.2万个全局三维边界框，并包含与自动驾驶车辆同步采集的V2I子集。除标准感知基准测试外，本文进一步评估了基础设施感知对环岛交互场景中关键交通安全参与者感知能力的提升作用。在结构化冲突场景中，车路协同将关键帧完整性从仅依赖车载感知的33%~46%提升至86%~100%。结果表明：在多冲突交通场景（车载感知最受限的场景）中，多节点基础设施感知可显著增强态势感知能力。