Cooperative autonomous driving, which extends vehicle autonomy by enabling real-time collaboration between vehicles and smart roadside infrastructure, remains a challenging yet essential problem. However, none of the existing testbeds employ smart infrastructure equipped with sensing, edge computing, and communication capabilities. To address this gap, we design and implement a 1:15-scale miniature testbed, CIVAT, for validating cooperative autonomous driving, consisting of a scaled urban map, autonomous vehicles with onboard sensors, and smart infrastructure. The proposed testbed integrates V2V and V2I communication with the publish-subscribe pattern through a shared Wi-Fi and ROS2 framework, enabling information exchange between vehicles and infrastructure to realize cooperative driving functionality. As a case study, we validate the system through infrastructure-based perception and intersection management experiments.

翻译：协同自动驾驶通过实现车辆与智能路侧基础设施之间的实时协作来扩展车辆自主性，这仍然是一个具有挑战性但至关重要的问题。然而，现有的测试平台均未采用配备感知、边缘计算和通信能力的智能基础设施。为填补这一空白，我们设计并实现了一个1:15比例的微型测试平台CIVAT，用于验证协同自动驾驶，该平台包括一个按比例缩放的城区地图、搭载车载传感器的自动驾驶车辆以及智能基础设施。所提出的测试平台通过共享Wi-Fi和ROS2框架，采用发布-订阅模式集成了车对车（V2V）和车对基础设施（V2I）通信，实现了车辆与基础设施之间的信息交换，从而支持协同驾驶功能。作为案例研究，我们通过基于基础设施的感知和交叉路口管理实验验证了该系统。