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.
@article{arxiv.2511.11022,
title = {Miniature Testbed for Validating Multi-Agent Cooperative Autonomous Driving},
author = {Hyunchul Bae and Eunjae Lee and Jehyeop Han and Minhee Kang and Jaehyeon Kim and Junggeun Seo and Minkyun Noh and Heejin Ahn},
journal= {arXiv preprint arXiv:2511.11022},
year = {2025}
}