V2X-Enabled Communication for Traffic Operations via ROS

The traffic system consists of vehicular components and road infrastructure across both cyber and physical layers. A key challenge in traffic operations is ensuring effective communication between vehicles and infrastructure. Vehicle data, sampled at around 1 Hz, captures detailed information at many locations but with sparse and intermittent sampling in both time and space. Traffic data, updated about once per minute, covers fewer locations but provides concentrated, more continuous spatial sampling within those limited areas, thus complementing vehicle data by enhancing overall spatial coverage [8]. On the other hand, as actuators, vehicles can also leverage their high-frequency spatial and temporal updates, enabling them to respond to critical traffic events with lower latency than infrastructure systems.