A Deployed Hybrid Vehicle-in-the-Loop Platform for Validating Cooperative Perception
Abstract
European safety regulation now permits a large share of automated-driving homologation evidence to be produced virtually, provided a validated physical-virtual facility generates it. We present a deployed hybrid Vehicle-in-the-Loop (ViL) platform that couples a real instrumented vehicle with a CARLA-based digital twin (DT) through a V2X message pipeline, and we report its first integrated operation on a public-road-representative test track. A real vehicle streams ETSI-compliant CAM/CPM messages into the DT, where a GPU-accelerated Cooperative Perception (CP) module fuses them into a probabilistic occupancy grid during scenario runtime. We demonstrate the platform on a multi-vehicle double T-intersection scenario, characterise the CP workload across nominal, rain and night conditions and five localization-noise levels, and discuss the platform's current architectural limits and the engineering targets they define. The results show that CP substantially widens field-of-view (FoV) coverage and improves occupied-cell recall, and that beyond a moderate localization-noise threshold, positioning uncertainty, and not weather, becomes the dominant error source. We outline the platform's trajectory toward a Mediterranean operational design domain (ODD) testing service.
Cite
@article{arxiv.2607.13806,
title = {A Deployed Hybrid Vehicle-in-the-Loop Platform for Validating Cooperative Perception},
author = {Anastasia Bolovinou and Giorgos Hadjipavlis and Markos Antonopoulos and Panagiotis Tachtalis and Konstantinos Petousakis and Konstantinos Lazaridis and Alexandros Siskos and Bill Roungas and Angelos Amditis},
journal= {arXiv preprint arXiv:2607.13806},
year = {2026}
}
Comments
4 pages, 5 figures, to be presented in the IEEE ITSC 2026 Industry Track