Connectivity is a main driver for the ongoing megatrend of automated mobility: future Cooperative Intelligent Transport Systems (C-ITS) will connect road vehicles, traffic signals, roadside infrastructure, and even vulnerable road users, sharing data and compute for safer, more efficient, and more comfortable mobility. In terms of communication technology for realizing such vehicle-to-everything (V2X) communication, the WLAN-based peer-to-peer approach (IEEE 802.11p, ITS-G5 in Europe) competes with C-V2X based on cellular technologies (4G and beyond). Irrespective of the underlying communication standard, common message interfaces are crucial for a common understanding between vehicles, especially from different manufacturers. Targeting this issue, the European Telecommunications Standards Institute (ETSI) has been standardizing V2X message formats such as the Cooperative Awareness Message (CAM). In this work, we present V2AIX, a multi-modal real-world dataset of ETSI ITS messages gathered in public road traffic, the first of its kind. Collected in measurement drives and with stationary infrastructure, we have recorded more than 230 000 V2X messages from more than 1800 vehicles and roadside units in public road traffic. Alongside a first analysis of the dataset, we present a way of integrating ETSI ITS V2X messages into the Robot Operating System (ROS). This enables researchers to not only thoroughly analyze real-world V2X data, but to also study and implement standardized V2X messages in ROS-based automated driving applications. The full dataset is publicly available for noncommercial use at v2aix.ika.rwth-aachen.de.

翻译：连接性是推动自动化出行大趋势的主要驱动力：未来协作式智能交通系统（C-ITS）将连接道路车辆、交通信号灯、路边基础设施乃至弱势道路使用者，通过数据与计算共享实现更安全、高效、舒适的出行。在实现车联万物（V2X）通信的技术路径中，基于WLAN的点对点方案（IEEE 802.11p，欧洲ITS-G5）与基于蜂窝技术（4G及更高版本）的C-V2X方案形成竞争。无论底层通信标准如何，统一的消息接口对于车辆（尤其是不同制造商车辆）之间的共同理解至关重要。针对这一问题，欧洲电信标准化协会（ETSI）已制定V2X消息格式标准，例如协作感知消息（CAM）。本文提出了V2AIX——首个在公共道路交通中采集的ETSI ITS消息多模态真实世界数据集。通过测量行驶与静态基础设施部署，我们在公共道路交通中从超过1800辆车辆和路侧单元记录了逾23万条V2X消息。除对数据集的初步分析外，我们提出了一种将ETSI ITS V2X消息集成至机器人操作系统（ROS）的方法。这使得研究者不仅能深入分析真实世界V2X数据，还可基于ROS自动化驾驶应用研究并实现标准化V2X消息。完整数据集可通过v2aix.ika.rwth-aachen.de公开获取（仅限非商业用途）。