CVS: Design, Implementation, Validation and Implications of a Real-world V2I Prototype Testbed

A Connected Vehicle System (CVS) is a cyberphysical system of highly-equipped infrastructure-connected vehicles interconnected with road-side units and cloud-based services to offer safer driving. Despite the ever increasing relevant research, the testing of CVS functionalities and communication features remains problematic; computer-based simulation requires detailed system models while field-testing is expensive, focusing on few components and may raise safety concerns. In this paper, we present a full CVS prototype testbed enabled to realize a broad set of timely Vehicle-to-Infrastructure (V2I) use-cases and serve as the basis for automotive cybersecurity testing. The testbed designed and built in the context of the H2020 SAFERtec project, is described in terms of its hardware requirements, software design and implementation. The conducted testing activities on its capability to realize the considered V2I use-cases and support cybersecurity testing is explained. More importantly, the paper details take-home lessons derived from the CVS implementation experiences aiming to assist future development of automotive prototype testbeds.